Hugging Face's logo

Datasets:
nvidia
/
PhysicalAI-Robotics-Manipulation-Kitchen-Demos

Tasks:
Robotics
Tags:
robotics
License:
Dataset card Files
xet
 Community
1
Abhim03 commited on
Commit
cd4f0a6
·
verified ·
1 Parent(s): 68f5956

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/dataset_meta.json +392 -0
  2. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000018/ep_meta.json +476 -0
  3. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000024/ep_meta.json +477 -0
  4. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000025/ep_meta.json +501 -0
  5. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000037/ep_meta.json +371 -0
  6. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000049/ep_meta.json +410 -0
  7. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000056/ep_meta.json +405 -0
  8. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000064/ep_meta.json +399 -0
  9. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000075/ep_meta.json +422 -0
  10. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000078/ep_meta.json +432 -0
  11. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000079/ep_meta.json +425 -0
  12. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000084/ep_meta.json +339 -0
  13. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000087/ep_meta.json +336 -0
  14. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/embodiment.json +8 -0
  15. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/episodes.jsonl +107 -0
  16. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/episodes_stats.jsonl +0 -0
  17. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/info.json +179 -0
  18. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/modality.json +72 -0
  19. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/stats.json +378 -0
  20. pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/tasks.jsonl +4 -0
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/dataset_meta.json ADDED
@@ -0,0 +1,392 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "date": "8-20-2025",
3
+ "env": "PickPlaceCounterToStandMixer",
4
+ "env_args": {
5
+ "type": 1,
6
+ "env_name": "PickPlaceCounterToStandMixer",
7
+ "env_version": "0.5.1",
8
+ "robosuite_version": "1.5.2",
9
+ "mujoco_version": "3.3.1",
10
+ "env_kwargs": {
11
+ "env_name": "PickPlaceCounterToStandMixer",
12
+ "robots": "PandaOmron",
13
+ "layout_ids": -2,
14
+ "style_ids": -2,
15
+ "obj_instance_split": "pretrain",
16
+ "clutter_mode": 0,
17
+ "translucent_robot": false,
18
+ "layout_and_style_ids": null,
19
+ "controller_configs": {
20
+ "type": "HYBRID_MOBILE_BASE",
21
+ "composite_controller_specific_configs": {
22
+ "left_offset": [
23
+ 0.0,
24
+ 0.0,
25
+ 0.0
26
+ ],
27
+ "right_offset": [
28
+ -0.15,
29
+ 0.0,
30
+ 0.35
31
+ ],
32
+ "left2arm_transform": [
33
+ [
34
+ 1,
35
+ 0,
36
+ 0,
37
+ 0
38
+ ],
39
+ [
40
+ 0,
41
+ 1,
42
+ 0,
43
+ 0
44
+ ],
45
+ [
46
+ 0,
47
+ 0,
48
+ 1,
49
+ 0
50
+ ],
51
+ [
52
+ 0,
53
+ 0,
54
+ 0,
55
+ 1
56
+ ]
57
+ ],
58
+ "right2arm_transform": [
59
+ [
60
+ 0,
61
+ 0.7071068,
62
+ 0.7071068,
63
+ 0
64
+ ],
65
+ [
66
+ 1,
67
+ 0,
68
+ 0,
69
+ 0
70
+ ],
71
+ [
72
+ 0,
73
+ 0.7071068,
74
+ -0.7071068,
75
+ 0
76
+ ],
77
+ [
78
+ 0,
79
+ 0,
80
+ 0,
81
+ 1
82
+ ]
83
+ ],
84
+ "left2finger_transform": [
85
+ [
86
+ 1,
87
+ 0,
88
+ 0,
89
+ 0
90
+ ],
91
+ [
92
+ 0,
93
+ 1,
94
+ 0,
95
+ 0
96
+ ],
97
+ [
98
+ 0,
99
+ 0,
100
+ 1,
101
+ 0
102
+ ],
103
+ [
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 1
108
+ ]
109
+ ],
110
+ "right2finger_transform": [
111
+ [
112
+ 1,
113
+ 0,
114
+ 0,
115
+ 0
116
+ ],
117
+ [
118
+ 0,
119
+ 1,
120
+ 0,
121
+ 0
122
+ ],
123
+ [
124
+ 0,
125
+ 0,
126
+ 1,
127
+ 0
128
+ ],
129
+ [
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 1
134
+ ]
135
+ ],
136
+ "body_part_ordering": [
137
+ "right",
138
+ "right_gripper",
139
+ "base",
140
+ "torso"
141
+ ]
142
+ },
143
+ "body_parts": {
144
+ "right": {
145
+ "type": "OSC_POSE",
146
+ "input_max": 1,
147
+ "input_min": -1,
148
+ "output_max": [
149
+ 0.05,
150
+ 0.05,
151
+ 0.05,
152
+ 0.5,
153
+ 0.5,
154
+ 0.5
155
+ ],
156
+ "output_min": [
157
+ -0.05,
158
+ -0.05,
159
+ -0.05,
160
+ -0.5,
161
+ -0.5,
162
+ -0.5
163
+ ],
164
+ "kp": 150,
165
+ "damping_ratio": 1,
166
+ "impedance_mode": "fixed",
167
+ "kp_limits": [
168
+ 0,
169
+ 300
170
+ ],
171
+ "damping_ratio_limits": [
172
+ 0,
173
+ 10
174
+ ],
175
+ "position_limits": null,
176
+ "orientation_limits": null,
177
+ "uncouple_pos_ori": true,
178
+ "input_type": "delta",
179
+ "input_ref_frame": "base",
180
+ "interpolation": null,
181
+ "ramp_ratio": 0.2,
182
+ "gripper": {
183
+ "type": "GRIP"
184
+ }
185
+ },
186
+ "torso": {
187
+ "type": "JOINT_POSITION",
188
+ "interpolation": "null",
189
+ "kp": 2000
190
+ },
191
+ "base": {
192
+ "type": "JOINT_VELOCITY",
193
+ "interpolation": "null"
194
+ }
195
+ }
196
+ }
197
+ }
198
+ },
199
+ "env_info": {
200
+ "env_name": "PickPlaceCounterToStandMixer",
201
+ "robots": "PandaOmron",
202
+ "layout_ids": -2,
203
+ "style_ids": -2,
204
+ "obj_instance_split": "pretrain",
205
+ "clutter_mode": 0,
206
+ "translucent_robot": true,
207
+ "layout_and_style_ids": null,
208
+ "controller_configs": {
209
+ "type": "HYBRID_MOBILE_BASE",
210
+ "composite_controller_specific_configs": {
211
+ "left_offset": [
212
+ 0.0,
213
+ 0.0,
214
+ 0.0
215
+ ],
216
+ "right_offset": [
217
+ -0.15,
218
+ 0.0,
219
+ 0.35
220
+ ],
221
+ "left2arm_transform": [
222
+ [
223
+ 1,
224
+ 0,
225
+ 0,
226
+ 0
227
+ ],
228
+ [
229
+ 0,
230
+ 1,
231
+ 0,
232
+ 0
233
+ ],
234
+ [
235
+ 0,
236
+ 0,
237
+ 1,
238
+ 0
239
+ ],
240
+ [
241
+ 0,
242
+ 0,
243
+ 0,
244
+ 1
245
+ ]
246
+ ],
247
+ "right2arm_transform": [
248
+ [
249
+ 0,
250
+ 0.7071068,
251
+ 0.7071068,
252
+ 0
253
+ ],
254
+ [
255
+ 1,
256
+ 0,
257
+ 0,
258
+ 0
259
+ ],
260
+ [
261
+ 0,
262
+ 0.7071068,
263
+ -0.7071068,
264
+ 0
265
+ ],
266
+ [
267
+ 0,
268
+ 0,
269
+ 0,
270
+ 1
271
+ ]
272
+ ],
273
+ "left2finger_transform": [
274
+ [
275
+ 1,
276
+ 0,
277
+ 0,
278
+ 0
279
+ ],
280
+ [
281
+ 0,
282
+ 1,
283
+ 0,
284
+ 0
285
+ ],
286
+ [
287
+ 0,
288
+ 0,
289
+ 1,
290
+ 0
291
+ ],
292
+ [
293
+ 0,
294
+ 0,
295
+ 0,
296
+ 1
297
+ ]
298
+ ],
299
+ "right2finger_transform": [
300
+ [
301
+ 1,
302
+ 0,
303
+ 0,
304
+ 0
305
+ ],
306
+ [
307
+ 0,
308
+ 1,
309
+ 0,
310
+ 0
311
+ ],
312
+ [
313
+ 0,
314
+ 0,
315
+ 1,
316
+ 0
317
+ ],
318
+ [
319
+ 0,
320
+ 0,
321
+ 0,
322
+ 1
323
+ ]
324
+ ],
325
+ "body_part_ordering": [
326
+ "right",
327
+ "right_gripper",
328
+ "base",
329
+ "torso"
330
+ ]
331
+ },
332
+ "body_parts": {
333
+ "right": {
334
+ "type": "OSC_POSE",
335
+ "input_max": 1,
336
+ "input_min": -1,
337
+ "output_max": [
338
+ 0.05,
339
+ 0.05,
340
+ 0.05,
341
+ 0.5,
342
+ 0.5,
343
+ 0.5
344
+ ],
345
+ "output_min": [
346
+ -0.05,
347
+ -0.05,
348
+ -0.05,
349
+ -0.5,
350
+ -0.5,
351
+ -0.5
352
+ ],
353
+ "kp": 150,
354
+ "damping_ratio": 1,
355
+ "impedance_mode": "fixed",
356
+ "kp_limits": [
357
+ 0,
358
+ 300
359
+ ],
360
+ "damping_ratio_limits": [
361
+ 0,
362
+ 10
363
+ ],
364
+ "position_limits": null,
365
+ "orientation_limits": null,
366
+ "uncouple_pos_ori": true,
367
+ "input_type": "delta",
368
+ "input_ref_frame": "base",
369
+ "interpolation": null,
370
+ "ramp_ratio": 0.2,
371
+ "gripper": {
372
+ "type": "GRIP"
373
+ }
374
+ },
375
+ "torso": {
376
+ "type": "JOINT_POSITION",
377
+ "interpolation": "null",
378
+ "kp": 2000
379
+ },
380
+ "base": {
381
+ "type": "JOINT_VELOCITY",
382
+ "interpolation": "null"
383
+ }
384
+ }
385
+ }
386
+ },
387
+ "mujoco_version": "3.3.1",
388
+ "robocasa_version": "0.5.1",
389
+ "robosuite_version": "1.5.2",
390
+ "time": "6:54:46",
391
+ "total": 25467
392
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000018/ep_meta.json ADDED
@@ -0,0 +1,476 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 49,
3
+ "style_id": 46,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "counter_3_front_group_1",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_front_group_1",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.05342825208000001,
20
+ 0.10014700094,
21
+ 0.10000841545
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "bread",
38
+ "bread_food",
39
+ "food",
40
+ "in_container"
41
+ ],
42
+ "groups": [
43
+ "cheese",
44
+ "bread",
45
+ "cake"
46
+ ],
47
+ "cat": "bread",
48
+ "split": "train",
49
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_20/model.xml"
50
+ },
51
+ "reset_region": {
52
+ "size": [
53
+ 2.084164461505059,
54
+ 0.677222
55
+ ],
56
+ "offset": [
57
+ -0.9622297692474706,
58
+ 0.0,
59
+ 0.4600045
60
+ ],
61
+ "name": "geom_0"
62
+ }
63
+ }
64
+ ],
65
+ "fixtures": {
66
+ "wall_right_1_room": {
67
+ "cls": "Wall"
68
+ },
69
+ "wall_right_1_backing_room": {
70
+ "cls": "Wall"
71
+ },
72
+ "wall_main_2_room": {
73
+ "cls": "Wall"
74
+ },
75
+ "wall_main_2_backing_room": {
76
+ "cls": "Wall"
77
+ },
78
+ "wall_main_1_room": {
79
+ "cls": "Wall"
80
+ },
81
+ "wall_main_1_backing_room": {
82
+ "cls": "Wall"
83
+ },
84
+ "wall_left_1_room": {
85
+ "cls": "Wall"
86
+ },
87
+ "wall_left_1_backing_room": {
88
+ "cls": "Wall"
89
+ },
90
+ "wall_left_2_room": {
91
+ "cls": "Wall"
92
+ },
93
+ "wall_left_2_backing_room": {
94
+ "cls": "Wall"
95
+ },
96
+ "wall_left_4_room": {
97
+ "cls": "Wall"
98
+ },
99
+ "wall_left_4_backing_room": {
100
+ "cls": "Wall"
101
+ },
102
+ "wall_left_3_room": {
103
+ "cls": "Wall"
104
+ },
105
+ "wall_left_3_backing_room": {
106
+ "cls": "Wall"
107
+ },
108
+ "wall_main_4_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_main_4_backing_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_main_3_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "wall_main_3_backing_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "floor_1_room": {
121
+ "cls": "Floor"
122
+ },
123
+ "floor_1_backing_room": {
124
+ "cls": "Floor"
125
+ },
126
+ "floor_2_room": {
127
+ "cls": "Floor"
128
+ },
129
+ "floor_2_backing_room": {
130
+ "cls": "Floor"
131
+ },
132
+ "wallaccessory_7_room": {
133
+ "cls": "WallAccessory"
134
+ },
135
+ "wallaccessory_6_room": {
136
+ "cls": "WallAccessory"
137
+ },
138
+ "wallaccessory_2_room": {
139
+ "cls": "WallAccessory"
140
+ },
141
+ "wallaccessory_4_room": {
142
+ "cls": "WallAccessory"
143
+ },
144
+ "wallaccessory_5_room": {
145
+ "cls": "WallAccessory"
146
+ },
147
+ "wallaccessory_11_room": {
148
+ "cls": "WallAccessory"
149
+ },
150
+ "window_group_1_room": {
151
+ "cls": "Window"
152
+ },
153
+ "stool_4_room": {
154
+ "cls": "Stool"
155
+ },
156
+ "stool_3_room": {
157
+ "cls": "Stool"
158
+ },
159
+ "stool_2_room": {
160
+ "cls": "Stool"
161
+ },
162
+ "stool_1_room": {
163
+ "cls": "Stool"
164
+ },
165
+ "hingecabinet_2_main_group_1": {
166
+ "cls": "HingeCabinet"
167
+ },
168
+ "hingecabinet_3_main_group_1": {
169
+ "cls": "HingeCabinet"
170
+ },
171
+ "singlecabinet_4_main_group_1": {
172
+ "cls": "SingleCabinet"
173
+ },
174
+ "counter_corner_1_main_group_1": {
175
+ "cls": "Counter"
176
+ },
177
+ "counter_2_main_group_1": {
178
+ "cls": "Counter"
179
+ },
180
+ "counter_13_main_group_1": {
181
+ "cls": "Counter"
182
+ },
183
+ "stove_main_group_1": {
184
+ "cls": "Stove"
185
+ },
186
+ "microwave_main_group_1": {
187
+ "cls": "Microwave"
188
+ },
189
+ "micro_cab_main_group_1": {
190
+ "cls": "HingeCabinet"
191
+ },
192
+ "stack_01_main_group_1_base": {
193
+ "cls": "Box"
194
+ },
195
+ "stack_01_main_group_1_1": {
196
+ "cls": "SingleCabinet"
197
+ },
198
+ "stack_01_main_group_1_2": {
199
+ "cls": "Drawer"
200
+ },
201
+ "stack_02_main_group_1_base": {
202
+ "cls": "Box"
203
+ },
204
+ "stack_02_main_group_1_1": {
205
+ "cls": "SingleCabinet"
206
+ },
207
+ "stack_02_main_group_1_2": {
208
+ "cls": "Drawer"
209
+ },
210
+ "stack_03_main_group_1_base": {
211
+ "cls": "Box"
212
+ },
213
+ "stack_03_main_group_1_1": {
214
+ "cls": "Drawer"
215
+ },
216
+ "stack_03_main_group_1_2": {
217
+ "cls": "Drawer"
218
+ },
219
+ "stack_03_main_group_1_3": {
220
+ "cls": "Drawer"
221
+ },
222
+ "stack_04_main_group_1_base": {
223
+ "cls": "Box"
224
+ },
225
+ "stack_04_main_group_1_1": {
226
+ "cls": "SingleCabinet"
227
+ },
228
+ "cube_main_group_1": {
229
+ "cls": "Box"
230
+ },
231
+ "coffee_machine_main_group_1": {
232
+ "cls": "CoffeeMachine"
233
+ },
234
+ "toaster_main_group_1": {
235
+ "cls": "Toaster"
236
+ },
237
+ "papertowel_main_group_1": {
238
+ "cls": "Accessory"
239
+ },
240
+ "toaster_oven_main_group_1": {
241
+ "cls": "ToasterOven"
242
+ },
243
+ "sink_right_group_1": {
244
+ "cls": "Sink"
245
+ },
246
+ "counter_1_right_group_1": {
247
+ "cls": "Counter"
248
+ },
249
+ "stack_05_right_group_1_base": {
250
+ "cls": "Box"
251
+ },
252
+ "stack_05_right_group_1_1": {
253
+ "cls": "SingleCabinet"
254
+ },
255
+ "cube_2_right_group_1": {
256
+ "cls": "Box"
257
+ },
258
+ "stack_07_right_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_07_right_group_1_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "stack_07_right_group_1_2": {
265
+ "cls": "PanelCabinet"
266
+ },
267
+ "cube_1_right_group_1": {
268
+ "cls": "Box"
269
+ },
270
+ "dishwasher_1_right_group_1": {
271
+ "cls": "Dishwasher"
272
+ },
273
+ "fridgefrenchdoor_left_group_2": {
274
+ "cls": "FridgeFrenchDoor"
275
+ },
276
+ "fridgefrenchdoor_housing_left_group_2": {
277
+ "cls": "HousingCabinet"
278
+ },
279
+ "hingecabinet_1_left_group_2": {
280
+ "cls": "HingeCabinet"
281
+ },
282
+ "counter_3_front_group_1": {
283
+ "cls": "Counter"
284
+ },
285
+ "counter_5_front_group_1": {
286
+ "cls": "Counter"
287
+ },
288
+ "stack_12_front_group_1_base": {
289
+ "cls": "Box"
290
+ },
291
+ "stack_12_front_group_1_1": {
292
+ "cls": "SingleCabinet"
293
+ },
294
+ "stack_12_front_group_1_2": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_13_front_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_13_front_group_1_1": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_13_front_group_1_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_13_front_group_1_3": {
307
+ "cls": "Drawer"
308
+ },
309
+ "stack_14_front_group_1_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_14_front_group_1_1": {
313
+ "cls": "SingleCabinet"
314
+ },
315
+ "stack_14_front_group_1_2": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_15_front_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_15_front_group_1_1": {
322
+ "cls": "SingleCabinet"
323
+ },
324
+ "stack_15_front_group_1_2": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_11_front_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_11_front_group_1_1": {
331
+ "cls": "SingleCabinet"
332
+ },
333
+ "stack_11_front_group_1_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "cube_4_front_group_1": {
337
+ "cls": "Box"
338
+ },
339
+ "cube_11_front_group_1": {
340
+ "cls": "Box"
341
+ },
342
+ "cube_5_front_group_1": {
343
+ "cls": "Box"
344
+ },
345
+ "stand_mixer_front_group_1": {
346
+ "cls": "StandMixer"
347
+ },
348
+ "dining_dining_area_group": {
349
+ "cls": "Counter"
350
+ },
351
+ "stack_10_dining_area_group_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_10_dining_area_group_1": {
355
+ "cls": "SingleCabinet"
356
+ },
357
+ "stack_10_dining_area_group_2": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_09_dining_area_group_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_09_dining_area_group_1": {
364
+ "cls": "SingleCabinet"
365
+ },
366
+ "stack_09_dining_area_group_2": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_08_dining_area_group_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_08_dining_area_group_1": {
373
+ "cls": "SingleCabinet"
374
+ },
375
+ "stack_08_dining_area_group_2": {
376
+ "cls": "Drawer"
377
+ },
378
+ "cube_2_dining_area_group": {
379
+ "cls": "Box"
380
+ }
381
+ },
382
+ "gen_textures": {},
383
+ "lang": "Place the bread in the stand mixer bowl.",
384
+ "fixture_refs": {},
385
+ "cam_configs": {
386
+ "robot0_agentview_center": {
387
+ "pos": [
388
+ -0.6,
389
+ 0.0,
390
+ 1.15
391
+ ],
392
+ "quat": [
393
+ 0.636945903301239,
394
+ 0.3325185477733612,
395
+ -0.3199238181114197,
396
+ -0.6175596117973328
397
+ ],
398
+ "parent_body": "mobilebase0_support"
399
+ },
400
+ "robot0_agentview_left": {
401
+ "pos": [
402
+ -0.5,
403
+ 0.35,
404
+ 1.05
405
+ ],
406
+ "quat": [
407
+ 0.55623853,
408
+ 0.29935253,
409
+ -0.37678665,
410
+ -0.6775092
411
+ ],
412
+ "camera_attribs": {
413
+ "fovy": "60"
414
+ },
415
+ "parent_body": "mobilebase0_support"
416
+ },
417
+ "robot0_agentview_right": {
418
+ "pos": [
419
+ -0.5,
420
+ -0.35,
421
+ 1.05
422
+ ],
423
+ "quat": [
424
+ 0.6775091886520386,
425
+ 0.3767866790294647,
426
+ -0.2993525564670563,
427
+ -0.55623859167099
428
+ ],
429
+ "camera_attribs": {
430
+ "fovy": "60"
431
+ },
432
+ "parent_body": "mobilebase0_support"
433
+ },
434
+ "robot0_frontview": {
435
+ "pos": [
436
+ -0.5,
437
+ 0,
438
+ 0.95
439
+ ],
440
+ "quat": [
441
+ 0.6088936924934387,
442
+ 0.3814677894115448,
443
+ -0.3673907518386841,
444
+ -0.5905545353889465
445
+ ],
446
+ "camera_attribs": {
447
+ "fovy": "60"
448
+ },
449
+ "parent_body": "mobilebase0_support"
450
+ },
451
+ "robot0_eye_in_hand": {
452
+ "pos": [
453
+ 0.05,
454
+ 0,
455
+ 0
456
+ ],
457
+ "quat": [
458
+ 0,
459
+ 0.707107,
460
+ 0.707107,
461
+ 0
462
+ ],
463
+ "parent_body": "robot0_right_hand"
464
+ }
465
+ },
466
+ "init_robot_base_pos": [
467
+ 1.4782920796266508,
468
+ -4.729684547852832,
469
+ 0.0
470
+ ],
471
+ "init_robot_base_ori": [
472
+ 0.0,
473
+ 0.0,
474
+ 4.712237632784059
475
+ ]
476
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000024/ep_meta.json ADDED
@@ -0,0 +1,477 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 49,
3
+ "style_id": 54,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "counter_3_front_group_1",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_front_group_1",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.08334741401672348,
20
+ 0.055294626045438215,
21
+ 0.0573767136
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "cheese",
38
+ "dairy",
39
+ "food",
40
+ "in_container",
41
+ "food_set1"
42
+ ],
43
+ "groups": [
44
+ "cheese",
45
+ "bread",
46
+ "cake"
47
+ ],
48
+ "cat": "cheese",
49
+ "split": "train",
50
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml"
51
+ },
52
+ "reset_region": {
53
+ "size": [
54
+ 1.6462993973322742,
55
+ 0.677222
56
+ ],
57
+ "offset": [
58
+ 1.181162301333863,
59
+ 0.0,
60
+ 0.4600045
61
+ ],
62
+ "name": "geom_1"
63
+ }
64
+ }
65
+ ],
66
+ "fixtures": {
67
+ "wall_right_1_room": {
68
+ "cls": "Wall"
69
+ },
70
+ "wall_right_1_backing_room": {
71
+ "cls": "Wall"
72
+ },
73
+ "wall_main_2_room": {
74
+ "cls": "Wall"
75
+ },
76
+ "wall_main_2_backing_room": {
77
+ "cls": "Wall"
78
+ },
79
+ "wall_main_1_room": {
80
+ "cls": "Wall"
81
+ },
82
+ "wall_main_1_backing_room": {
83
+ "cls": "Wall"
84
+ },
85
+ "wall_left_1_room": {
86
+ "cls": "Wall"
87
+ },
88
+ "wall_left_1_backing_room": {
89
+ "cls": "Wall"
90
+ },
91
+ "wall_left_2_room": {
92
+ "cls": "Wall"
93
+ },
94
+ "wall_left_2_backing_room": {
95
+ "cls": "Wall"
96
+ },
97
+ "wall_left_4_room": {
98
+ "cls": "Wall"
99
+ },
100
+ "wall_left_4_backing_room": {
101
+ "cls": "Wall"
102
+ },
103
+ "wall_left_3_room": {
104
+ "cls": "Wall"
105
+ },
106
+ "wall_left_3_backing_room": {
107
+ "cls": "Wall"
108
+ },
109
+ "wall_main_4_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_main_4_backing_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_main_3_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_main_3_backing_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "floor_1_room": {
122
+ "cls": "Floor"
123
+ },
124
+ "floor_1_backing_room": {
125
+ "cls": "Floor"
126
+ },
127
+ "floor_2_room": {
128
+ "cls": "Floor"
129
+ },
130
+ "floor_2_backing_room": {
131
+ "cls": "Floor"
132
+ },
133
+ "wallaccessory_7_room": {
134
+ "cls": "WallAccessory"
135
+ },
136
+ "wallaccessory_6_room": {
137
+ "cls": "WallAccessory"
138
+ },
139
+ "wallaccessory_2_room": {
140
+ "cls": "WallAccessory"
141
+ },
142
+ "wallaccessory_4_room": {
143
+ "cls": "WallAccessory"
144
+ },
145
+ "wallaccessory_5_room": {
146
+ "cls": "WallAccessory"
147
+ },
148
+ "wallaccessory_11_room": {
149
+ "cls": "WallAccessory"
150
+ },
151
+ "window_group_1_room": {
152
+ "cls": "Window"
153
+ },
154
+ "stool_4_room": {
155
+ "cls": "Stool"
156
+ },
157
+ "stool_3_room": {
158
+ "cls": "Stool"
159
+ },
160
+ "stool_2_room": {
161
+ "cls": "Stool"
162
+ },
163
+ "stool_1_room": {
164
+ "cls": "Stool"
165
+ },
166
+ "hingecabinet_2_main_group_1": {
167
+ "cls": "HingeCabinet"
168
+ },
169
+ "hingecabinet_3_main_group_1": {
170
+ "cls": "HingeCabinet"
171
+ },
172
+ "singlecabinet_4_main_group_1": {
173
+ "cls": "SingleCabinet"
174
+ },
175
+ "counter_corner_1_main_group_1": {
176
+ "cls": "Counter"
177
+ },
178
+ "counter_2_main_group_1": {
179
+ "cls": "Counter"
180
+ },
181
+ "counter_13_main_group_1": {
182
+ "cls": "Counter"
183
+ },
184
+ "stove_main_group_1": {
185
+ "cls": "Stove"
186
+ },
187
+ "microwave_main_group_1": {
188
+ "cls": "Microwave"
189
+ },
190
+ "micro_cab_main_group_1": {
191
+ "cls": "HingeCabinet"
192
+ },
193
+ "stack_01_main_group_1_base": {
194
+ "cls": "Box"
195
+ },
196
+ "stack_01_main_group_1_1": {
197
+ "cls": "SingleCabinet"
198
+ },
199
+ "stack_01_main_group_1_2": {
200
+ "cls": "Drawer"
201
+ },
202
+ "stack_02_main_group_1_base": {
203
+ "cls": "Box"
204
+ },
205
+ "stack_02_main_group_1_1": {
206
+ "cls": "SingleCabinet"
207
+ },
208
+ "stack_02_main_group_1_2": {
209
+ "cls": "Drawer"
210
+ },
211
+ "stack_03_main_group_1_base": {
212
+ "cls": "Box"
213
+ },
214
+ "stack_03_main_group_1_1": {
215
+ "cls": "Drawer"
216
+ },
217
+ "stack_03_main_group_1_2": {
218
+ "cls": "Drawer"
219
+ },
220
+ "stack_03_main_group_1_3": {
221
+ "cls": "Drawer"
222
+ },
223
+ "stack_04_main_group_1_base": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_04_main_group_1_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "cube_main_group_1": {
230
+ "cls": "Box"
231
+ },
232
+ "coffee_machine_main_group_1": {
233
+ "cls": "CoffeeMachine"
234
+ },
235
+ "toaster_main_group_1": {
236
+ "cls": "Toaster"
237
+ },
238
+ "papertowel_main_group_1": {
239
+ "cls": "Accessory"
240
+ },
241
+ "toaster_oven_main_group_1": {
242
+ "cls": "ToasterOven"
243
+ },
244
+ "sink_right_group_1": {
245
+ "cls": "Sink"
246
+ },
247
+ "counter_1_right_group_1": {
248
+ "cls": "Counter"
249
+ },
250
+ "stack_05_right_group_1_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_05_right_group_1_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "cube_2_right_group_1": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_07_right_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_07_right_group_1_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "stack_07_right_group_1_2": {
266
+ "cls": "PanelCabinet"
267
+ },
268
+ "cube_1_right_group_1": {
269
+ "cls": "Box"
270
+ },
271
+ "dishwasher_1_right_group_1": {
272
+ "cls": "Dishwasher"
273
+ },
274
+ "fridgefrenchdoor_left_group_2": {
275
+ "cls": "FridgeFrenchDoor"
276
+ },
277
+ "fridgefrenchdoor_housing_left_group_2": {
278
+ "cls": "HousingCabinet"
279
+ },
280
+ "hingecabinet_1_left_group_2": {
281
+ "cls": "HingeCabinet"
282
+ },
283
+ "counter_3_front_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "counter_5_front_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "stack_12_front_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_12_front_group_1_1": {
293
+ "cls": "SingleCabinet"
294
+ },
295
+ "stack_12_front_group_1_2": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_13_front_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_13_front_group_1_1": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_13_front_group_1_2": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_13_front_group_1_3": {
308
+ "cls": "Drawer"
309
+ },
310
+ "stack_14_front_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_14_front_group_1_1": {
314
+ "cls": "SingleCabinet"
315
+ },
316
+ "stack_14_front_group_1_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_15_front_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_15_front_group_1_1": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "stack_15_front_group_1_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_11_front_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_11_front_group_1_1": {
332
+ "cls": "SingleCabinet"
333
+ },
334
+ "stack_11_front_group_1_2": {
335
+ "cls": "Drawer"
336
+ },
337
+ "cube_4_front_group_1": {
338
+ "cls": "Box"
339
+ },
340
+ "cube_11_front_group_1": {
341
+ "cls": "Box"
342
+ },
343
+ "cube_5_front_group_1": {
344
+ "cls": "Box"
345
+ },
346
+ "stand_mixer_front_group_1": {
347
+ "cls": "StandMixer"
348
+ },
349
+ "dining_dining_area_group": {
350
+ "cls": "Counter"
351
+ },
352
+ "stack_10_dining_area_group_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_10_dining_area_group_1": {
356
+ "cls": "SingleCabinet"
357
+ },
358
+ "stack_10_dining_area_group_2": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_09_dining_area_group_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_09_dining_area_group_1": {
365
+ "cls": "SingleCabinet"
366
+ },
367
+ "stack_09_dining_area_group_2": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_08_dining_area_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_08_dining_area_group_1": {
374
+ "cls": "SingleCabinet"
375
+ },
376
+ "stack_08_dining_area_group_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "cube_2_dining_area_group": {
380
+ "cls": "Box"
381
+ }
382
+ },
383
+ "gen_textures": {},
384
+ "lang": "Place the cheese in the stand mixer bowl.",
385
+ "fixture_refs": {},
386
+ "cam_configs": {
387
+ "robot0_agentview_center": {
388
+ "pos": [
389
+ -0.6,
390
+ 0.0,
391
+ 1.15
392
+ ],
393
+ "quat": [
394
+ 0.636945903301239,
395
+ 0.3325185477733612,
396
+ -0.3199238181114197,
397
+ -0.6175596117973328
398
+ ],
399
+ "parent_body": "mobilebase0_support"
400
+ },
401
+ "robot0_agentview_left": {
402
+ "pos": [
403
+ -0.5,
404
+ 0.35,
405
+ 1.05
406
+ ],
407
+ "quat": [
408
+ 0.55623853,
409
+ 0.29935253,
410
+ -0.37678665,
411
+ -0.6775092
412
+ ],
413
+ "camera_attribs": {
414
+ "fovy": "60"
415
+ },
416
+ "parent_body": "mobilebase0_support"
417
+ },
418
+ "robot0_agentview_right": {
419
+ "pos": [
420
+ -0.5,
421
+ -0.35,
422
+ 1.05
423
+ ],
424
+ "quat": [
425
+ 0.6775091886520386,
426
+ 0.3767866790294647,
427
+ -0.2993525564670563,
428
+ -0.55623859167099
429
+ ],
430
+ "camera_attribs": {
431
+ "fovy": "60"
432
+ },
433
+ "parent_body": "mobilebase0_support"
434
+ },
435
+ "robot0_frontview": {
436
+ "pos": [
437
+ -0.5,
438
+ 0,
439
+ 0.95
440
+ ],
441
+ "quat": [
442
+ 0.6088936924934387,
443
+ 0.3814677894115448,
444
+ -0.3673907518386841,
445
+ -0.5905545353889465
446
+ ],
447
+ "camera_attribs": {
448
+ "fovy": "60"
449
+ },
450
+ "parent_body": "mobilebase0_support"
451
+ },
452
+ "robot0_eye_in_hand": {
453
+ "pos": [
454
+ 0.05,
455
+ 0,
456
+ 0
457
+ ],
458
+ "quat": [
459
+ 0,
460
+ 0.707107,
461
+ 0.707107,
462
+ 0
463
+ ],
464
+ "parent_body": "robot0_right_hand"
465
+ }
466
+ },
467
+ "init_robot_base_pos": [
468
+ 1.4644996821367262,
469
+ -4.762163703848311,
470
+ 0.0
471
+ ],
472
+ "init_robot_base_ori": [
473
+ 0.0,
474
+ 0.0,
475
+ 4.712237632784059
476
+ ]
477
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000025/ep_meta.json ADDED
@@ -0,0 +1,501 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 38,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "island_island_group",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_island_group",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.027149190159279808,
20
+ 0.11703501625277146,
21
+ 0.05390286950999998
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "cheese",
38
+ "dairy",
39
+ "food",
40
+ "in_container",
41
+ "food_set1"
42
+ ],
43
+ "groups": [
44
+ "cheese",
45
+ "bread",
46
+ "cake"
47
+ ],
48
+ "cat": "cheese",
49
+ "split": "train",
50
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
51
+ },
52
+ "reset_region": {
53
+ "size": [
54
+ 0.34793628158863266,
55
+ 1.8
56
+ ],
57
+ "offset": [
58
+ -1.6485318592056837,
59
+ 2.0816681711721685e-17,
60
+ 0.46
61
+ ],
62
+ "name": "geom_0"
63
+ }
64
+ }
65
+ ],
66
+ "fixtures": {
67
+ "wall_main_1_room": {
68
+ "cls": "Wall"
69
+ },
70
+ "wall_main_1_backing_room": {
71
+ "cls": "Wall"
72
+ },
73
+ "wall_left_4_room": {
74
+ "cls": "Wall"
75
+ },
76
+ "wall_left_4_backing_room": {
77
+ "cls": "Wall"
78
+ },
79
+ "wall_right_1_room": {
80
+ "cls": "Wall"
81
+ },
82
+ "wall_right_1_backing_room": {
83
+ "cls": "Wall"
84
+ },
85
+ "wall_left_1_room": {
86
+ "cls": "Wall"
87
+ },
88
+ "wall_left_1_backing_room": {
89
+ "cls": "Wall"
90
+ },
91
+ "wall_left_3_room": {
92
+ "cls": "Wall"
93
+ },
94
+ "wall_left_3_backing_room": {
95
+ "cls": "Wall"
96
+ },
97
+ "wall_left_2_room": {
98
+ "cls": "Wall"
99
+ },
100
+ "wall_left_2_backing_room": {
101
+ "cls": "Wall"
102
+ },
103
+ "wall_main_2_room": {
104
+ "cls": "Wall"
105
+ },
106
+ "wall_main_2_backing_room": {
107
+ "cls": "Wall"
108
+ },
109
+ "wall_front_1_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_front_1_backing_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "floor_1_room": {
116
+ "cls": "Floor"
117
+ },
118
+ "floor_1_backing_room": {
119
+ "cls": "Floor"
120
+ },
121
+ "floor_2_room": {
122
+ "cls": "Floor"
123
+ },
124
+ "floor_2_backing_room": {
125
+ "cls": "Floor"
126
+ },
127
+ "light_switch_1_room": {
128
+ "cls": "WallAccessory"
129
+ },
130
+ "wall_accessory_1_room": {
131
+ "cls": "WallAccessory"
132
+ },
133
+ "light_switch_2_room": {
134
+ "cls": "WallAccessory"
135
+ },
136
+ "wall_accessory_2_room": {
137
+ "cls": "WallAccessory"
138
+ },
139
+ "stool_1_room": {
140
+ "cls": "Stool"
141
+ },
142
+ "stool_2_room": {
143
+ "cls": "Stool"
144
+ },
145
+ "stool_3_room": {
146
+ "cls": "Stool"
147
+ },
148
+ "stool_4_room": {
149
+ "cls": "Stool"
150
+ },
151
+ "bottom_main_group_base": {
152
+ "cls": "Box"
153
+ },
154
+ "bottom_main_group_1": {
155
+ "cls": "Drawer"
156
+ },
157
+ "oven_main_group": {
158
+ "cls": "Oven"
159
+ },
160
+ "oven_housing_main_group": {
161
+ "cls": "HousingCabinet"
162
+ },
163
+ "microwave_main_group": {
164
+ "cls": "Microwave"
165
+ },
166
+ "microwave_housing_main_group": {
167
+ "cls": "HousingCabinet"
168
+ },
169
+ "middle_main_group": {
170
+ "cls": "HingeCabinet"
171
+ },
172
+ "top_main_group": {
173
+ "cls": "HingeCabinet"
174
+ },
175
+ "fridge_main_group": {
176
+ "cls": "FridgeSideBySide"
177
+ },
178
+ "fridge_housing_main_group": {
179
+ "cls": "HousingCabinet"
180
+ },
181
+ "counter_1_main_group": {
182
+ "cls": "Counter"
183
+ },
184
+ "stack_1_main_group_base": {
185
+ "cls": "Box"
186
+ },
187
+ "stack_1_main_group_1": {
188
+ "cls": "Drawer"
189
+ },
190
+ "stack_1_main_group_2": {
191
+ "cls": "Drawer"
192
+ },
193
+ "stack_1_main_group_3": {
194
+ "cls": "Drawer"
195
+ },
196
+ "stack_2_main_group_base": {
197
+ "cls": "Box"
198
+ },
199
+ "stack_2_main_group_1": {
200
+ "cls": "Drawer"
201
+ },
202
+ "stack_2_main_group_2": {
203
+ "cls": "Drawer"
204
+ },
205
+ "stack_2_main_group_3": {
206
+ "cls": "Drawer"
207
+ },
208
+ "stack_3_main_group_base": {
209
+ "cls": "Box"
210
+ },
211
+ "stack_3_main_group_1": {
212
+ "cls": "Drawer"
213
+ },
214
+ "stack_3_main_group_2": {
215
+ "cls": "Drawer"
216
+ },
217
+ "stack_3_main_group_3": {
218
+ "cls": "Drawer"
219
+ },
220
+ "dishwasher_main_group": {
221
+ "cls": "Dishwasher"
222
+ },
223
+ "panel_stack_main_group_base": {
224
+ "cls": "Box"
225
+ },
226
+ "panel_stack_main_group_1": {
227
+ "cls": "PanelCabinet"
228
+ },
229
+ "cab_1_main_group": {
230
+ "cls": "HingeCabinet"
231
+ },
232
+ "cab_2_main_group": {
233
+ "cls": "HingeCabinet"
234
+ },
235
+ "cab_3_main_group": {
236
+ "cls": "HingeCabinet"
237
+ },
238
+ "cab_4_main_group": {
239
+ "cls": "HingeCabinet"
240
+ },
241
+ "cab_5_main_group": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "cab_6_main_group": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "toaster_oven_main_group": {
248
+ "cls": "ToasterOven"
249
+ },
250
+ "paper_towel_main_group": {
251
+ "cls": "Accessory"
252
+ },
253
+ "stovetop_left_group": {
254
+ "cls": "Stovetop"
255
+ },
256
+ "counter_1_left_group": {
257
+ "cls": "Counter"
258
+ },
259
+ "stack_1_left_group_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_1_left_group_1": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_1_left_group_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_1_left_group_3": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_2_left_group_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_2_left_group_1": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_2_left_group_2": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_2_left_group_3": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_3_left_group_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_3_left_group_1": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_3_left_group_2": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_3_left_group_3": {
293
+ "cls": "PanelCabinet"
294
+ },
295
+ "stack_4_left_group_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_4_left_group_1": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_4_left_group_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_4_left_group_3": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_5_left_group_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_5_left_group_1": {
311
+ "cls": "Drawer"
312
+ },
313
+ "stack_5_left_group_2": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_5_left_group_3": {
317
+ "cls": "Drawer"
318
+ },
319
+ "hood_left_group": {
320
+ "cls": "Hood"
321
+ },
322
+ "cab_1_left_group": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "cab_2_left_group": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "cab_3_left_group": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "cab_4_left_group": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "coffee_machine_left_group": {
335
+ "cls": "CoffeeMachine"
336
+ },
337
+ "toaster_left_group": {
338
+ "cls": "Toaster"
339
+ },
340
+ "sink_island_group": {
341
+ "cls": "Sink"
342
+ },
343
+ "island_island_group": {
344
+ "cls": "Counter"
345
+ },
346
+ "panel_box_1_island_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "panel_box_1_island_group_1": {
350
+ "cls": "PanelCabinet"
351
+ },
352
+ "stack_1_island_group_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_1_island_group_1": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_1_island_group_2": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_1_island_group_3": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_2_island_group_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_2_island_group_1": {
368
+ "cls": "SingleCabinet"
369
+ },
370
+ "stack_3_island_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_3_island_group_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_4_island_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_4_island_group_1": {
380
+ "cls": "SingleCabinet"
381
+ },
382
+ "stack_5_island_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_5_island_group_1": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_5_island_group_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_5_island_group_3": {
392
+ "cls": "Drawer"
393
+ },
394
+ "panel_cab_2_island_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "panel_cab_2_island_group_1": {
398
+ "cls": "PanelCabinet"
399
+ },
400
+ "box_island_group": {
401
+ "cls": "Box"
402
+ },
403
+ "stand_mixer_island_group": {
404
+ "cls": "StandMixer"
405
+ }
406
+ },
407
+ "gen_textures": {},
408
+ "lang": "Place the cheese in the stand mixer bowl.",
409
+ "fixture_refs": {},
410
+ "cam_configs": {
411
+ "robot0_agentview_center": {
412
+ "pos": [
413
+ -0.6,
414
+ 0.0,
415
+ 1.15
416
+ ],
417
+ "quat": [
418
+ 0.636945903301239,
419
+ 0.3325185477733612,
420
+ -0.3199238181114197,
421
+ -0.6175596117973328
422
+ ],
423
+ "parent_body": "mobilebase0_support"
424
+ },
425
+ "robot0_agentview_left": {
426
+ "pos": [
427
+ -0.5,
428
+ 0.35,
429
+ 1.05
430
+ ],
431
+ "quat": [
432
+ 0.55623853,
433
+ 0.29935253,
434
+ -0.37678665,
435
+ -0.6775092
436
+ ],
437
+ "camera_attribs": {
438
+ "fovy": "60"
439
+ },
440
+ "parent_body": "mobilebase0_support"
441
+ },
442
+ "robot0_agentview_right": {
443
+ "pos": [
444
+ -0.5,
445
+ -0.35,
446
+ 1.05
447
+ ],
448
+ "quat": [
449
+ 0.6775091886520386,
450
+ 0.3767866790294647,
451
+ -0.2993525564670563,
452
+ -0.55623859167099
453
+ ],
454
+ "camera_attribs": {
455
+ "fovy": "60"
456
+ },
457
+ "parent_body": "mobilebase0_support"
458
+ },
459
+ "robot0_frontview": {
460
+ "pos": [
461
+ -0.5,
462
+ 0,
463
+ 0.95
464
+ ],
465
+ "quat": [
466
+ 0.6088936924934387,
467
+ 0.3814677894115448,
468
+ -0.3673907518386841,
469
+ -0.5905545353889465
470
+ ],
471
+ "camera_attribs": {
472
+ "fovy": "60"
473
+ },
474
+ "parent_body": "mobilebase0_support"
475
+ },
476
+ "robot0_eye_in_hand": {
477
+ "pos": [
478
+ 0.05,
479
+ 0,
480
+ 0
481
+ ],
482
+ "quat": [
483
+ 0,
484
+ 0.707107,
485
+ 0.707107,
486
+ 0
487
+ ],
488
+ "parent_body": "robot0_right_hand"
489
+ }
490
+ },
491
+ "init_robot_base_pos": [
492
+ 1.1695932457321077,
493
+ -2.8249517963218405,
494
+ 0.0
495
+ ],
496
+ "init_robot_base_ori": [
497
+ 0.0,
498
+ 0.0,
499
+ 3.4228548662085245e-08
500
+ ]
501
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000037/ep_meta.json ADDED
@@ -0,0 +1,371 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 36,
3
+ "style_id": 46,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "counter_1_left_group_1",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_left_group_1",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.05514044975999998,
20
+ 0.08719592111999996,
21
+ 0.07980814159999997
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "cake",
38
+ "sweets",
39
+ "food",
40
+ "in_container"
41
+ ],
42
+ "groups": [
43
+ "cheese",
44
+ "bread",
45
+ "cake"
46
+ ],
47
+ "cat": "cake",
48
+ "split": "train",
49
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml"
50
+ },
51
+ "reset_region": {
52
+ "size": [
53
+ 0.4107427610096799,
54
+ 0.65
55
+ ],
56
+ "offset": [
57
+ -1.24887861949516,
58
+ -3.469446951953614e-17,
59
+ 0.46
60
+ ],
61
+ "name": "geom_0"
62
+ }
63
+ }
64
+ ],
65
+ "fixtures": {
66
+ "wall_left_1_room": {
67
+ "cls": "Wall"
68
+ },
69
+ "wall_left_1_backing_room": {
70
+ "cls": "Wall"
71
+ },
72
+ "wall_main_1_room": {
73
+ "cls": "Wall"
74
+ },
75
+ "wall_main_1_backing_room": {
76
+ "cls": "Wall"
77
+ },
78
+ "wall_right_1_room": {
79
+ "cls": "Wall"
80
+ },
81
+ "wall_right_1_backing_room": {
82
+ "cls": "Wall"
83
+ },
84
+ "wall_left_2_room": {
85
+ "cls": "Wall"
86
+ },
87
+ "wall_left_2_backing_room": {
88
+ "cls": "Wall"
89
+ },
90
+ "wall_front_1_room": {
91
+ "cls": "Wall"
92
+ },
93
+ "wall_front_1_backing_room": {
94
+ "cls": "Wall"
95
+ },
96
+ "wall_left_3_room": {
97
+ "cls": "Wall"
98
+ },
99
+ "wall_left_3_backing_room": {
100
+ "cls": "Wall"
101
+ },
102
+ "wall_right_3_room": {
103
+ "cls": "Wall"
104
+ },
105
+ "wall_right_3_backing_room": {
106
+ "cls": "Wall"
107
+ },
108
+ "wall_front_2_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_front_2_backing_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_left_5_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "wall_left_5_backing_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "wall_right_2_room": {
121
+ "cls": "Wall"
122
+ },
123
+ "wall_right_2_backing_room": {
124
+ "cls": "Wall"
125
+ },
126
+ "floor_1_room": {
127
+ "cls": "Floor"
128
+ },
129
+ "floor_1_backing_room": {
130
+ "cls": "Floor"
131
+ },
132
+ "floor_2_room": {
133
+ "cls": "Floor"
134
+ },
135
+ "floor_2_backing_room": {
136
+ "cls": "Floor"
137
+ },
138
+ "wallaccessory_room": {
139
+ "cls": "WallAccessory"
140
+ },
141
+ "wallaccessory.001_room": {
142
+ "cls": "WallAccessory"
143
+ },
144
+ "wallaccessory.002_room": {
145
+ "cls": "WallAccessory"
146
+ },
147
+ "wallaccessory.003_room": {
148
+ "cls": "WallAccessory"
149
+ },
150
+ "window_group_room": {
151
+ "cls": "Window"
152
+ },
153
+ "counter_1_front_group_1": {
154
+ "cls": "Counter"
155
+ },
156
+ "fridgefrenchdoor_front_group_1": {
157
+ "cls": "FridgeFrenchDoor"
158
+ },
159
+ "fridgefrenchdoor_housing_front_group_1": {
160
+ "cls": "HousingCabinet"
161
+ },
162
+ "stack_1_front_group_1_base": {
163
+ "cls": "Box"
164
+ },
165
+ "stack_1_front_group_1_1": {
166
+ "cls": "HingeCabinet"
167
+ },
168
+ "stack_1_front_group_1_2": {
169
+ "cls": "Drawer"
170
+ },
171
+ "cube_2_front_group_1": {
172
+ "cls": "Box"
173
+ },
174
+ "cube_1_front_group_1": {
175
+ "cls": "Box"
176
+ },
177
+ "papertowel_front_group_1": {
178
+ "cls": "Accessory"
179
+ },
180
+ "counter_1_right_group_1": {
181
+ "cls": "Counter"
182
+ },
183
+ "counter_2_right_group_1": {
184
+ "cls": "Counter"
185
+ },
186
+ "stove_right_group_1": {
187
+ "cls": "Stove"
188
+ },
189
+ "microwave_right_group_1": {
190
+ "cls": "Microwave"
191
+ },
192
+ "micro_cab_right_group_1": {
193
+ "cls": "HingeCabinet"
194
+ },
195
+ "hingecabinet_2_right_group_1": {
196
+ "cls": "HingeCabinet"
197
+ },
198
+ "hingecabinet_1_right_group_1": {
199
+ "cls": "HingeCabinet"
200
+ },
201
+ "stack_2_right_group_1_base": {
202
+ "cls": "Box"
203
+ },
204
+ "stack_2_right_group_1_1": {
205
+ "cls": "HingeCabinet"
206
+ },
207
+ "stack_2_right_group_1_2": {
208
+ "cls": "Drawer"
209
+ },
210
+ "stack_1_right_group_1_base": {
211
+ "cls": "Box"
212
+ },
213
+ "stack_1_right_group_1_1": {
214
+ "cls": "HingeCabinet"
215
+ },
216
+ "stack_1_right_group_1_2": {
217
+ "cls": "Drawer"
218
+ },
219
+ "plant_right_group_1": {
220
+ "cls": "Accessory"
221
+ },
222
+ "toaster_right_group_1": {
223
+ "cls": "Toaster"
224
+ },
225
+ "toaster_oven_right_group_1": {
226
+ "cls": "ToasterOven"
227
+ },
228
+ "sink_left_group_1": {
229
+ "cls": "Sink"
230
+ },
231
+ "counter_1_left_group_1": {
232
+ "cls": "Counter"
233
+ },
234
+ "hingecabinet_1_left_group_1": {
235
+ "cls": "HingeCabinet"
236
+ },
237
+ "stack_1_left_group_1_base": {
238
+ "cls": "Box"
239
+ },
240
+ "stack_1_left_group_1_1": {
241
+ "cls": "SingleCabinet"
242
+ },
243
+ "stack_1_left_group_1_2": {
244
+ "cls": "Drawer"
245
+ },
246
+ "cube_1_left_group_1": {
247
+ "cls": "Box"
248
+ },
249
+ "stack_2_left_group_1_base": {
250
+ "cls": "Box"
251
+ },
252
+ "stack_2_left_group_1_1": {
253
+ "cls": "HingeCabinet"
254
+ },
255
+ "stack_2_left_group_1_2": {
256
+ "cls": "PanelCabinet"
257
+ },
258
+ "stack_3_left_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_3_left_group_1_1": {
262
+ "cls": "SingleCabinet"
263
+ },
264
+ "stack_3_left_group_1_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "dishwasher_1_left_group_1": {
268
+ "cls": "Dishwasher"
269
+ },
270
+ "coffee_machine_left_group_1": {
271
+ "cls": "CoffeeMachine"
272
+ },
273
+ "stand_mixer_left_group_1": {
274
+ "cls": "StandMixer"
275
+ }
276
+ },
277
+ "gen_textures": {},
278
+ "lang": "Place the cake in the stand mixer bowl.",
279
+ "fixture_refs": {},
280
+ "cam_configs": {
281
+ "robot0_agentview_center": {
282
+ "pos": [
283
+ -0.6,
284
+ 0.0,
285
+ 1.15
286
+ ],
287
+ "quat": [
288
+ 0.636945903301239,
289
+ 0.3325185477733612,
290
+ -0.3199238181114197,
291
+ -0.6175596117973328
292
+ ],
293
+ "parent_body": "mobilebase0_support"
294
+ },
295
+ "robot0_agentview_left": {
296
+ "pos": [
297
+ -0.5,
298
+ 0.35,
299
+ 1.05
300
+ ],
301
+ "quat": [
302
+ 0.55623853,
303
+ 0.29935253,
304
+ -0.37678665,
305
+ -0.6775092
306
+ ],
307
+ "camera_attribs": {
308
+ "fovy": "60"
309
+ },
310
+ "parent_body": "mobilebase0_support"
311
+ },
312
+ "robot0_agentview_right": {
313
+ "pos": [
314
+ -0.5,
315
+ -0.35,
316
+ 1.05
317
+ ],
318
+ "quat": [
319
+ 0.6775091886520386,
320
+ 0.3767866790294647,
321
+ -0.2993525564670563,
322
+ -0.55623859167099
323
+ ],
324
+ "camera_attribs": {
325
+ "fovy": "60"
326
+ },
327
+ "parent_body": "mobilebase0_support"
328
+ },
329
+ "robot0_frontview": {
330
+ "pos": [
331
+ -0.5,
332
+ 0,
333
+ 0.95
334
+ ],
335
+ "quat": [
336
+ 0.6088936924934387,
337
+ 0.3814677894115448,
338
+ -0.3673907518386841,
339
+ -0.5905545353889465
340
+ ],
341
+ "camera_attribs": {
342
+ "fovy": "60"
343
+ },
344
+ "parent_body": "mobilebase0_support"
345
+ },
346
+ "robot0_eye_in_hand": {
347
+ "pos": [
348
+ 0.05,
349
+ 0,
350
+ 0
351
+ ],
352
+ "quat": [
353
+ 0,
354
+ 0.707107,
355
+ 0.707107,
356
+ 0
357
+ ],
358
+ "parent_body": "robot0_right_hand"
359
+ }
360
+ },
361
+ "init_robot_base_pos": [
362
+ 0.8419158150895968,
363
+ -2.3081024814958244,
364
+ 0.0
365
+ ],
366
+ "init_robot_base_ori": [
367
+ 0.0,
368
+ 0.0,
369
+ 3.1415924507432367
370
+ ]
371
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000049/ep_meta.json ADDED
@@ -0,0 +1,410 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 47,
3
+ "style_id": 26,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "counter_04_front_group_2",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_front_group_2",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.08248466015999999,
20
+ 0.08059432751999998,
21
+ 0.06550323
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "bread",
38
+ "bread_food",
39
+ "food",
40
+ "in_container"
41
+ ],
42
+ "groups": [
43
+ "cheese",
44
+ "bread",
45
+ "cake"
46
+ ],
47
+ "cat": "bread",
48
+ "split": "train",
49
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml"
50
+ },
51
+ "reset_region": {
52
+ "size": [
53
+ 0.4509358104485591,
54
+ 0.650076
55
+ ],
56
+ "offset": [
57
+ -0.3404850947757205,
58
+ 0.0,
59
+ 0.4600005
60
+ ],
61
+ "name": "geom_0"
62
+ }
63
+ }
64
+ ],
65
+ "fixtures": {
66
+ "wall_right_1_room": {
67
+ "cls": "Wall"
68
+ },
69
+ "wall_right_1_backing_room": {
70
+ "cls": "Wall"
71
+ },
72
+ "wall_main_1_room": {
73
+ "cls": "Wall"
74
+ },
75
+ "wall_main_1_backing_room": {
76
+ "cls": "Wall"
77
+ },
78
+ "wall_front_1_room": {
79
+ "cls": "Wall"
80
+ },
81
+ "wall_front_1_backing_room": {
82
+ "cls": "Wall"
83
+ },
84
+ "wall_left_2_room": {
85
+ "cls": "Wall"
86
+ },
87
+ "wall_left_2_backing_room": {
88
+ "cls": "Wall"
89
+ },
90
+ "wall_left_1_room": {
91
+ "cls": "Wall"
92
+ },
93
+ "wall_left_1_backing_room": {
94
+ "cls": "Wall"
95
+ },
96
+ "wall_main_2_room": {
97
+ "cls": "Wall"
98
+ },
99
+ "wall_main_2_backing_room": {
100
+ "cls": "Wall"
101
+ },
102
+ "floor_1_room": {
103
+ "cls": "Floor"
104
+ },
105
+ "floor_1_backing_room": {
106
+ "cls": "Floor"
107
+ },
108
+ "floor_2_room": {
109
+ "cls": "Floor"
110
+ },
111
+ "floor_2_backing_room": {
112
+ "cls": "Floor"
113
+ },
114
+ "wallaccessory_2_room": {
115
+ "cls": "WallAccessory"
116
+ },
117
+ "wallaccessory_5_room": {
118
+ "cls": "WallAccessory"
119
+ },
120
+ "lightswitch_02_room": {
121
+ "cls": "WallAccessory"
122
+ },
123
+ "wallaccessory_3_room": {
124
+ "cls": "WallAccessory"
125
+ },
126
+ "wallaccessory_4_room": {
127
+ "cls": "WallAccessory"
128
+ },
129
+ "wallaccessory_1_room": {
130
+ "cls": "WallAccessory"
131
+ },
132
+ "lightswitch_01_room": {
133
+ "cls": "WallAccessory"
134
+ },
135
+ "wallaccessory_6.001_room": {
136
+ "cls": "WallAccessory"
137
+ },
138
+ "window_group_1_room": {
139
+ "cls": "Window"
140
+ },
141
+ "hingecabinet_5_right_group_1": {
142
+ "cls": "HingeCabinet"
143
+ },
144
+ "hingecabinet_4_right_group_1": {
145
+ "cls": "HingeCabinet"
146
+ },
147
+ "sink_right_group_1": {
148
+ "cls": "Sink"
149
+ },
150
+ "counter_03_right_group_1": {
151
+ "cls": "Counter"
152
+ },
153
+ "counter_corner_2_right_group_1": {
154
+ "cls": "Counter"
155
+ },
156
+ "stack_05_right_group_1_base": {
157
+ "cls": "Box"
158
+ },
159
+ "stack_05_right_group_1_1": {
160
+ "cls": "SingleCabinet"
161
+ },
162
+ "stack_05_right_group_1_2": {
163
+ "cls": "Drawer"
164
+ },
165
+ "box_05_right_group_1": {
166
+ "cls": "Box"
167
+ },
168
+ "dishwasher_1_right_group_1": {
169
+ "cls": "Dishwasher"
170
+ },
171
+ "stack_06_right_group_1_base": {
172
+ "cls": "Box"
173
+ },
174
+ "stack_06_right_group_1_1": {
175
+ "cls": "HingeCabinet"
176
+ },
177
+ "stack_06_right_group_1_2": {
178
+ "cls": "PanelCabinet"
179
+ },
180
+ "stack_08_right_group_1_base": {
181
+ "cls": "Box"
182
+ },
183
+ "stack_08_right_group_1_1": {
184
+ "cls": "SingleCabinet"
185
+ },
186
+ "stack_08_right_group_1_2": {
187
+ "cls": "Drawer"
188
+ },
189
+ "hingecabinet_1_front_group_1": {
190
+ "cls": "HingeCabinet"
191
+ },
192
+ "hingecabinet_3_front_group_1": {
193
+ "cls": "HingeCabinet"
194
+ },
195
+ "hingecabinet_2_front_group_1": {
196
+ "cls": "HingeCabinet"
197
+ },
198
+ "counter_05_front_group_1": {
199
+ "cls": "Counter"
200
+ },
201
+ "stack_02_front_group_1_base": {
202
+ "cls": "Box"
203
+ },
204
+ "stack_02_front_group_1_1": {
205
+ "cls": "HingeCabinet"
206
+ },
207
+ "stack_02_front_group_1_2": {
208
+ "cls": "Drawer"
209
+ },
210
+ "stack_01_front_group_1_base": {
211
+ "cls": "Box"
212
+ },
213
+ "stack_01_front_group_1_1": {
214
+ "cls": "HingeCabinet"
215
+ },
216
+ "coffee_machine_front_group_1": {
217
+ "cls": "CoffeeMachine"
218
+ },
219
+ "toaster_front_group_1": {
220
+ "cls": "Toaster"
221
+ },
222
+ "fridgesidebyside_main_group_1": {
223
+ "cls": "FridgeSideBySide"
224
+ },
225
+ "fridgesidebyside_housing_main_group_1": {
226
+ "cls": "HousingCabinet"
227
+ },
228
+ "hingecabinet_6_main_group_1": {
229
+ "cls": "HingeCabinet"
230
+ },
231
+ "counter_02_main_group_1": {
232
+ "cls": "Counter"
233
+ },
234
+ "counter_01_main_group_1": {
235
+ "cls": "Counter"
236
+ },
237
+ "counter_corner_2_main_group_1": {
238
+ "cls": "Counter"
239
+ },
240
+ "stove_main_group_1": {
241
+ "cls": "Stove"
242
+ },
243
+ "microwave_main_group_1": {
244
+ "cls": "Microwave"
245
+ },
246
+ "micro_cab_main_group_1": {
247
+ "cls": "HingeCabinet"
248
+ },
249
+ "singlecabinet_1_main_group_1": {
250
+ "cls": "SingleCabinet"
251
+ },
252
+ "singlecabinet_2_main_group_1": {
253
+ "cls": "SingleCabinet"
254
+ },
255
+ "cube_main_group_1": {
256
+ "cls": "Box"
257
+ },
258
+ "stack_03_main_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_03_main_group_1_1": {
262
+ "cls": "SingleCabinet"
263
+ },
264
+ "stack_03_main_group_1_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "stack_04_main_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "stack_04_main_group_1_1": {
271
+ "cls": "SingleCabinet"
272
+ },
273
+ "stack_04_main_group_1_2": {
274
+ "cls": "Drawer"
275
+ },
276
+ "papertowel_main_group_1": {
277
+ "cls": "Accessory"
278
+ },
279
+ "toaster_oven_main_group_1": {
280
+ "cls": "ToasterOven"
281
+ },
282
+ "counter_04_front_group_2": {
283
+ "cls": "Counter"
284
+ },
285
+ "stack_10_front_group_2_base": {
286
+ "cls": "Box"
287
+ },
288
+ "stack_10_front_group_2_1": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_10_front_group_2_2": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_10_front_group_2_3": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_10_front_group_2_4": {
298
+ "cls": "Drawer"
299
+ },
300
+ "stack_09_front_group_2_base": {
301
+ "cls": "Box"
302
+ },
303
+ "stack_09_front_group_2_1": {
304
+ "cls": "SingleCabinet"
305
+ },
306
+ "stack_09_front_group_2_2": {
307
+ "cls": "Drawer"
308
+ },
309
+ "cube_front_group_2": {
310
+ "cls": "Box"
311
+ },
312
+ "stand_mixer_front_group_2": {
313
+ "cls": "StandMixer"
314
+ }
315
+ },
316
+ "gen_textures": {},
317
+ "lang": "Place the bread in the stand mixer bowl.",
318
+ "fixture_refs": {},
319
+ "cam_configs": {
320
+ "robot0_agentview_center": {
321
+ "pos": [
322
+ -0.6,
323
+ 0.0,
324
+ 1.15
325
+ ],
326
+ "quat": [
327
+ 0.636945903301239,
328
+ 0.3325185477733612,
329
+ -0.3199238181114197,
330
+ -0.6175596117973328
331
+ ],
332
+ "parent_body": "mobilebase0_support"
333
+ },
334
+ "robot0_agentview_left": {
335
+ "pos": [
336
+ -0.5,
337
+ 0.35,
338
+ 1.05
339
+ ],
340
+ "quat": [
341
+ 0.55623853,
342
+ 0.29935253,
343
+ -0.37678665,
344
+ -0.6775092
345
+ ],
346
+ "camera_attribs": {
347
+ "fovy": "60"
348
+ },
349
+ "parent_body": "mobilebase0_support"
350
+ },
351
+ "robot0_agentview_right": {
352
+ "pos": [
353
+ -0.5,
354
+ -0.35,
355
+ 1.05
356
+ ],
357
+ "quat": [
358
+ 0.6775091886520386,
359
+ 0.3767866790294647,
360
+ -0.2993525564670563,
361
+ -0.55623859167099
362
+ ],
363
+ "camera_attribs": {
364
+ "fovy": "60"
365
+ },
366
+ "parent_body": "mobilebase0_support"
367
+ },
368
+ "robot0_frontview": {
369
+ "pos": [
370
+ -0.5,
371
+ 0,
372
+ 0.95
373
+ ],
374
+ "quat": [
375
+ 0.6088936924934387,
376
+ 0.3814677894115448,
377
+ -0.3673907518386841,
378
+ -0.5905545353889465
379
+ ],
380
+ "camera_attribs": {
381
+ "fovy": "60"
382
+ },
383
+ "parent_body": "mobilebase0_support"
384
+ },
385
+ "robot0_eye_in_hand": {
386
+ "pos": [
387
+ 0.05,
388
+ 0,
389
+ 0
390
+ ],
391
+ "quat": [
392
+ 0,
393
+ 0.707107,
394
+ 0.707107,
395
+ 0
396
+ ],
397
+ "parent_body": "robot0_right_hand"
398
+ }
399
+ },
400
+ "init_robot_base_pos": [
401
+ 5.65435818294538,
402
+ -3.361526744304493,
403
+ 0.0
404
+ ],
405
+ "init_robot_base_ori": [
406
+ 0.0,
407
+ 0.0,
408
+ 4.712237433597448
409
+ ]
410
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000056/ep_meta.json ADDED
@@ -0,0 +1,405 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 19,
3
+ "style_id": 30,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "dining_dining_area_group",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_dining_area_group",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.08334741401672348,
20
+ 0.055294626045438215,
21
+ 0.0573767136
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "cheese",
38
+ "dairy",
39
+ "food",
40
+ "in_container",
41
+ "food_set1"
42
+ ],
43
+ "groups": [
44
+ "cheese",
45
+ "bread",
46
+ "cake"
47
+ ],
48
+ "cat": "cheese",
49
+ "split": "train",
50
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml"
51
+ },
52
+ "reset_region": {
53
+ "size": [
54
+ 0.8397514151474027,
55
+ 1.0
56
+ ],
57
+ "offset": [
58
+ -0.2801242924262986,
59
+ 0.0,
60
+ 0.46
61
+ ],
62
+ "name": "geom_0"
63
+ }
64
+ }
65
+ ],
66
+ "fixtures": {
67
+ "wall_left_1_room": {
68
+ "cls": "Wall"
69
+ },
70
+ "wall_left_1_backing_room": {
71
+ "cls": "Wall"
72
+ },
73
+ "wall_main_1_room": {
74
+ "cls": "Wall"
75
+ },
76
+ "wall_main_1_backing_room": {
77
+ "cls": "Wall"
78
+ },
79
+ "wall_main_3_room": {
80
+ "cls": "Wall"
81
+ },
82
+ "wall_main_3_backing_room": {
83
+ "cls": "Wall"
84
+ },
85
+ "wall_main_2_room": {
86
+ "cls": "Wall"
87
+ },
88
+ "wall_main_2_backing_room": {
89
+ "cls": "Wall"
90
+ },
91
+ "wall_right_1_room": {
92
+ "cls": "Wall"
93
+ },
94
+ "wall_right_1_backing_room": {
95
+ "cls": "Wall"
96
+ },
97
+ "floor_1_room": {
98
+ "cls": "Floor"
99
+ },
100
+ "floor_1_backing_room": {
101
+ "cls": "Floor"
102
+ },
103
+ "wall_accessory_1_room": {
104
+ "cls": "WallAccessory"
105
+ },
106
+ "wall_accessory_2_room": {
107
+ "cls": "WallAccessory"
108
+ },
109
+ "wall_accessory_3_room": {
110
+ "cls": "WallAccessory"
111
+ },
112
+ "light_switch_1_room": {
113
+ "cls": "WallAccessory"
114
+ },
115
+ "window_group_room": {
116
+ "cls": "Window"
117
+ },
118
+ "stool_1_room": {
119
+ "cls": "Stool"
120
+ },
121
+ "stool_2_room": {
122
+ "cls": "Stool"
123
+ },
124
+ "sink_left_group_1": {
125
+ "cls": "Sink"
126
+ },
127
+ "counter_1_left_group_1": {
128
+ "cls": "Counter"
129
+ },
130
+ "stack_1_left_group_1_base": {
131
+ "cls": "Box"
132
+ },
133
+ "stack_1_left_group_1_1": {
134
+ "cls": "HingeCabinet"
135
+ },
136
+ "stack_1_left_group_1_2": {
137
+ "cls": "Drawer"
138
+ },
139
+ "stack_1_left_group_1_3": {
140
+ "cls": "Drawer"
141
+ },
142
+ "stack_2_left_group_1_base": {
143
+ "cls": "Box"
144
+ },
145
+ "stack_2_left_group_1_1": {
146
+ "cls": "HingeCabinet"
147
+ },
148
+ "stack_2_left_group_1_2": {
149
+ "cls": "PanelCabinet"
150
+ },
151
+ "stack_3_left_group_1_base": {
152
+ "cls": "Box"
153
+ },
154
+ "stack_3_left_group_1_1": {
155
+ "cls": "HingeCabinet"
156
+ },
157
+ "stack_3_left_group_1_2": {
158
+ "cls": "Drawer"
159
+ },
160
+ "stack_3_left_group_1_3": {
161
+ "cls": "Drawer"
162
+ },
163
+ "cab_1_left_group_1": {
164
+ "cls": "HingeCabinet"
165
+ },
166
+ "cab_2_left_group_1": {
167
+ "cls": "HingeCabinet"
168
+ },
169
+ "cab_3_left_group_1": {
170
+ "cls": "HingeCabinet"
171
+ },
172
+ "bottom_left_group_1_base": {
173
+ "cls": "Box"
174
+ },
175
+ "bottom_left_group_1_1": {
176
+ "cls": "Drawer"
177
+ },
178
+ "middle_1_left_group_1": {
179
+ "cls": "HingeCabinet"
180
+ },
181
+ "middle_2_left_group_1": {
182
+ "cls": "HingeCabinet"
183
+ },
184
+ "top_1_left_group_1": {
185
+ "cls": "HingeCabinet"
186
+ },
187
+ "toaster_oven_left_group_1": {
188
+ "cls": "ToasterOven"
189
+ },
190
+ "counter_1_right_group_1": {
191
+ "cls": "Counter"
192
+ },
193
+ "counter_corner_right_group_1": {
194
+ "cls": "Counter"
195
+ },
196
+ "box_1_right_group_1": {
197
+ "cls": "Box"
198
+ },
199
+ "stack_1_right_group_1_base": {
200
+ "cls": "Box"
201
+ },
202
+ "stack_1_right_group_1_1": {
203
+ "cls": "SingleCabinet"
204
+ },
205
+ "stack_1_right_group_1_2": {
206
+ "cls": "Drawer"
207
+ },
208
+ "dishwasher_1_right_group_1": {
209
+ "cls": "Dishwasher"
210
+ },
211
+ "stack_2_right_group_1_base": {
212
+ "cls": "Box"
213
+ },
214
+ "stack_2_right_group_1_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "stack_2_right_group_1_2": {
218
+ "cls": "Drawer"
219
+ },
220
+ "box_2_right_group_1": {
221
+ "cls": "Box"
222
+ },
223
+ "cab_1_right_group_1": {
224
+ "cls": "HingeCabinet"
225
+ },
226
+ "coffee_machine_right_group_1": {
227
+ "cls": "CoffeeMachine"
228
+ },
229
+ "toaster_right_group_1": {
230
+ "cls": "Toaster"
231
+ },
232
+ "paper_towel_right_group_1": {
233
+ "cls": "Accessory"
234
+ },
235
+ "counter_corner_1_main_group_3": {
236
+ "cls": "Counter"
237
+ },
238
+ "stove_main_group_3": {
239
+ "cls": "Stove"
240
+ },
241
+ "fridge_1_main_group_3": {
242
+ "cls": "FridgeBottomFreezer"
243
+ },
244
+ "fridge_1_housing_main_group_3": {
245
+ "cls": "HousingCabinet"
246
+ },
247
+ "top_1_main_group_3": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "cab_1_main_group_3": {
251
+ "cls": "OpenCabinet"
252
+ },
253
+ "microwave_main_group_3": {
254
+ "cls": "Microwave"
255
+ },
256
+ "cab_micro_main_group_3": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "cab_corner_main_group_3": {
260
+ "cls": "Box"
261
+ },
262
+ "dining_dining_area_group": {
263
+ "cls": "Counter"
264
+ },
265
+ "box_dining_area_group": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_1_dining_area_group_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_1_dining_area_group_1": {
272
+ "cls": "SingleCabinet"
273
+ },
274
+ "stack_1_dining_area_group_2": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_2_dining_area_group_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_2_dining_area_group_1": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_2_dining_area_group_2": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_2_dining_area_group_3": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_2_dining_area_group_4": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_3_dining_area_group_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_3_dining_area_group_1": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_3_dining_area_group_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_3_dining_area_group_3": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_3_dining_area_group_4": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stand_mixer_dining_area_group": {
308
+ "cls": "StandMixer"
309
+ }
310
+ },
311
+ "gen_textures": {},
312
+ "lang": "Place the cheese in the stand mixer bowl.",
313
+ "fixture_refs": {},
314
+ "cam_configs": {
315
+ "robot0_agentview_center": {
316
+ "pos": [
317
+ -0.6,
318
+ 0.0,
319
+ 1.15
320
+ ],
321
+ "quat": [
322
+ 0.636945903301239,
323
+ 0.3325185477733612,
324
+ -0.3199238181114197,
325
+ -0.6175596117973328
326
+ ],
327
+ "parent_body": "mobilebase0_support"
328
+ },
329
+ "robot0_agentview_left": {
330
+ "pos": [
331
+ -0.5,
332
+ 0.35,
333
+ 1.05
334
+ ],
335
+ "quat": [
336
+ 0.55623853,
337
+ 0.29935253,
338
+ -0.37678665,
339
+ -0.6775092
340
+ ],
341
+ "camera_attribs": {
342
+ "fovy": "60"
343
+ },
344
+ "parent_body": "mobilebase0_support"
345
+ },
346
+ "robot0_agentview_right": {
347
+ "pos": [
348
+ -0.5,
349
+ -0.35,
350
+ 1.05
351
+ ],
352
+ "quat": [
353
+ 0.6775091886520386,
354
+ 0.3767866790294647,
355
+ -0.2993525564670563,
356
+ -0.55623859167099
357
+ ],
358
+ "camera_attribs": {
359
+ "fovy": "60"
360
+ },
361
+ "parent_body": "mobilebase0_support"
362
+ },
363
+ "robot0_frontview": {
364
+ "pos": [
365
+ -0.5,
366
+ 0,
367
+ 0.95
368
+ ],
369
+ "quat": [
370
+ 0.6088936924934387,
371
+ 0.3814677894115448,
372
+ -0.3673907518386841,
373
+ -0.5905545353889465
374
+ ],
375
+ "camera_attribs": {
376
+ "fovy": "60"
377
+ },
378
+ "parent_body": "mobilebase0_support"
379
+ },
380
+ "robot0_eye_in_hand": {
381
+ "pos": [
382
+ 0.05,
383
+ 0,
384
+ 0
385
+ ],
386
+ "quat": [
387
+ 0,
388
+ 0.707107,
389
+ 0.707107,
390
+ 0
391
+ ],
392
+ "parent_body": "robot0_right_hand"
393
+ }
394
+ },
395
+ "init_robot_base_pos": [
396
+ 2.6331121561278388,
397
+ -2.4359809299634776,
398
+ 0.0
399
+ ],
400
+ "init_robot_base_ori": [
401
+ 0.0,
402
+ 0.0,
403
+ -1.57079623937212
404
+ ]
405
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000064/ep_meta.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 30,
3
+ "style_id": 54,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "dining_front_group",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_front_group",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.027149190159279808,
20
+ 0.11703501625277146,
21
+ 0.05390286950999998
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "cheese",
38
+ "dairy",
39
+ "food",
40
+ "in_container",
41
+ "food_set1"
42
+ ],
43
+ "groups": [
44
+ "cheese",
45
+ "bread",
46
+ "cake"
47
+ ],
48
+ "cat": "cheese",
49
+ "split": "train",
50
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
51
+ },
52
+ "reset_region": {
53
+ "size": [
54
+ 1.0714980994975944,
55
+ 0.95
56
+ ],
57
+ "offset": [
58
+ -0.33925095025120283,
59
+ 0.0,
60
+ 0.46
61
+ ],
62
+ "name": "geom_0"
63
+ }
64
+ }
65
+ ],
66
+ "fixtures": {
67
+ "wall_main_1_room": {
68
+ "cls": "Wall"
69
+ },
70
+ "wall_main_1_backing_room": {
71
+ "cls": "Wall"
72
+ },
73
+ "wall_left_1_room": {
74
+ "cls": "Wall"
75
+ },
76
+ "wall_left_1_backing_room": {
77
+ "cls": "Wall"
78
+ },
79
+ "wall_right_1_room": {
80
+ "cls": "Wall"
81
+ },
82
+ "wall_right_1_backing_room": {
83
+ "cls": "Wall"
84
+ },
85
+ "floor_1_room": {
86
+ "cls": "Floor"
87
+ },
88
+ "floor_1_backing_room": {
89
+ "cls": "Floor"
90
+ },
91
+ "wall_accessory_1_room": {
92
+ "cls": "WallAccessory"
93
+ },
94
+ "wall_accessory_2_room": {
95
+ "cls": "WallAccessory"
96
+ },
97
+ "light_switch_1_room": {
98
+ "cls": "WallAccessory"
99
+ },
100
+ "ligh_switch_2_room": {
101
+ "cls": "WallAccessory"
102
+ },
103
+ "light_switch_3_room": {
104
+ "cls": "WallAccessory"
105
+ },
106
+ "light_switch_4_room": {
107
+ "cls": "WallAccessory"
108
+ },
109
+ "wall_accessory_3_room": {
110
+ "cls": "WallAccessory"
111
+ },
112
+ "wall_accessory_4_room": {
113
+ "cls": "WallAccessory"
114
+ },
115
+ "wall_accessory_5_room": {
116
+ "cls": "WallAccessory"
117
+ },
118
+ "window_group_1_room": {
119
+ "cls": "Window"
120
+ },
121
+ "window_group_2_room": {
122
+ "cls": "Window"
123
+ },
124
+ "window_group_3_room": {
125
+ "cls": "Window"
126
+ },
127
+ "stool_1_room": {
128
+ "cls": "Stool"
129
+ },
130
+ "stool_2_room": {
131
+ "cls": "Stool"
132
+ },
133
+ "counter_1_left_group": {
134
+ "cls": "Counter"
135
+ },
136
+ "stove_left_group": {
137
+ "cls": "Stove"
138
+ },
139
+ "counter_2_left_group": {
140
+ "cls": "Counter"
141
+ },
142
+ "stack_1_left_group_base": {
143
+ "cls": "Box"
144
+ },
145
+ "stack_1_left_group_1": {
146
+ "cls": "Drawer"
147
+ },
148
+ "stack_1_left_group_2": {
149
+ "cls": "Drawer"
150
+ },
151
+ "stack_1_left_group_3": {
152
+ "cls": "Drawer"
153
+ },
154
+ "stack_2_left_group_base": {
155
+ "cls": "Box"
156
+ },
157
+ "stack_2_left_group_1": {
158
+ "cls": "Drawer"
159
+ },
160
+ "stack_2_left_group_2": {
161
+ "cls": "Drawer"
162
+ },
163
+ "stack_2_left_group_3": {
164
+ "cls": "Drawer"
165
+ },
166
+ "stack_3_left_group_base": {
167
+ "cls": "Box"
168
+ },
169
+ "stack_3_left_group_1": {
170
+ "cls": "Drawer"
171
+ },
172
+ "stack_3_left_group_2": {
173
+ "cls": "Drawer"
174
+ },
175
+ "stack_3_left_group_3": {
176
+ "cls": "Drawer"
177
+ },
178
+ "stack_4_left_group_base": {
179
+ "cls": "Box"
180
+ },
181
+ "stack_4_left_group_1": {
182
+ "cls": "Drawer"
183
+ },
184
+ "stack_4_left_group_2": {
185
+ "cls": "Drawer"
186
+ },
187
+ "stack_4_left_group_3": {
188
+ "cls": "Drawer"
189
+ },
190
+ "fridge_left_group": {
191
+ "cls": "FridgeFrenchDoor"
192
+ },
193
+ "fridge_housing_left_group": {
194
+ "cls": "HousingCabinet"
195
+ },
196
+ "cab_1_left_group": {
197
+ "cls": "HingeCabinet"
198
+ },
199
+ "cab_2_left_group": {
200
+ "cls": "HingeCabinet"
201
+ },
202
+ "microwave_left_group": {
203
+ "cls": "Microwave"
204
+ },
205
+ "cab_3_left_group": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "cab_4_left_group": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "cab_5_left_group": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "cab_6_left_group": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "toaster_oven_left_group": {
218
+ "cls": "ToasterOven"
219
+ },
220
+ "coffee_machine_left_group": {
221
+ "cls": "CoffeeMachine"
222
+ },
223
+ "paper_towel_left_group": {
224
+ "cls": "Accessory"
225
+ },
226
+ "sink_right_group": {
227
+ "cls": "Sink"
228
+ },
229
+ "counter_1_right_group": {
230
+ "cls": "Counter"
231
+ },
232
+ "stack_1_right_group_base": {
233
+ "cls": "Box"
234
+ },
235
+ "stack_1_right_group_1": {
236
+ "cls": "SingleCabinet"
237
+ },
238
+ "dishwasher_right_group": {
239
+ "cls": "Dishwasher"
240
+ },
241
+ "stack_2_right_group_base": {
242
+ "cls": "Box"
243
+ },
244
+ "stack_2_right_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "stack_3_right_group_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_3_right_group_1": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_3_right_group_2": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_4_right_group_base": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_4_right_group_1": {
260
+ "cls": "SingleCabinet"
261
+ },
262
+ "box_right_group": {
263
+ "cls": "Box"
264
+ },
265
+ "cab_1_right_group": {
266
+ "cls": "OpenCabinet"
267
+ },
268
+ "cab_2_right_group": {
269
+ "cls": "OpenCabinet"
270
+ },
271
+ "toaster_right_group": {
272
+ "cls": "Toaster"
273
+ },
274
+ "dining_front_group": {
275
+ "cls": "Counter"
276
+ },
277
+ "box_front_group": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_1_front_group_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_1_front_group_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_2_front_group_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_2_front_group_1": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_2_front_group_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_2_front_group_3": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_2_front_group_4": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stand_mixer_front_group": {
302
+ "cls": "StandMixer"
303
+ }
304
+ },
305
+ "gen_textures": {},
306
+ "lang": "Place the cheese in the stand mixer bowl.",
307
+ "fixture_refs": {},
308
+ "cam_configs": {
309
+ "robot0_agentview_center": {
310
+ "pos": [
311
+ -0.6,
312
+ 0.0,
313
+ 1.15
314
+ ],
315
+ "quat": [
316
+ 0.636945903301239,
317
+ 0.3325185477733612,
318
+ -0.3199238181114197,
319
+ -0.6175596117973328
320
+ ],
321
+ "parent_body": "mobilebase0_support"
322
+ },
323
+ "robot0_agentview_left": {
324
+ "pos": [
325
+ -0.5,
326
+ 0.35,
327
+ 1.05
328
+ ],
329
+ "quat": [
330
+ 0.55623853,
331
+ 0.29935253,
332
+ -0.37678665,
333
+ -0.6775092
334
+ ],
335
+ "camera_attribs": {
336
+ "fovy": "60"
337
+ },
338
+ "parent_body": "mobilebase0_support"
339
+ },
340
+ "robot0_agentview_right": {
341
+ "pos": [
342
+ -0.5,
343
+ -0.35,
344
+ 1.05
345
+ ],
346
+ "quat": [
347
+ 0.6775091886520386,
348
+ 0.3767866790294647,
349
+ -0.2993525564670563,
350
+ -0.55623859167099
351
+ ],
352
+ "camera_attribs": {
353
+ "fovy": "60"
354
+ },
355
+ "parent_body": "mobilebase0_support"
356
+ },
357
+ "robot0_frontview": {
358
+ "pos": [
359
+ -0.5,
360
+ 0,
361
+ 0.95
362
+ ],
363
+ "quat": [
364
+ 0.6088936924934387,
365
+ 0.3814677894115448,
366
+ -0.3673907518386841,
367
+ -0.5905545353889465
368
+ ],
369
+ "camera_attribs": {
370
+ "fovy": "60"
371
+ },
372
+ "parent_body": "mobilebase0_support"
373
+ },
374
+ "robot0_eye_in_hand": {
375
+ "pos": [
376
+ 0.05,
377
+ 0,
378
+ 0
379
+ ],
380
+ "quat": [
381
+ 0,
382
+ 0.707107,
383
+ 0.707107,
384
+ 0
385
+ ],
386
+ "parent_body": "robot0_right_hand"
387
+ }
388
+ },
389
+ "init_robot_base_pos": [
390
+ 2.809787241559076,
391
+ -4.242165615107172,
392
+ 0.0
393
+ ],
394
+ "init_robot_base_ori": [
395
+ 0.0,
396
+ 0.0,
397
+ 1.5707964142176731
398
+ ]
399
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000075/ep_meta.json ADDED
@@ -0,0 +1,422 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 46,
3
+ "style_id": 54,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "counter_2_front_group_1",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_front_group_1",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.05550316911999999,
20
+ 0.05414003839999999,
21
+ 0.029310765119999995
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "cake",
38
+ "sweets",
39
+ "food",
40
+ "in_container"
41
+ ],
42
+ "groups": [
43
+ "cheese",
44
+ "bread",
45
+ "cake"
46
+ ],
47
+ "cat": "cake",
48
+ "split": "train",
49
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml"
50
+ },
51
+ "reset_region": {
52
+ "size": [
53
+ 0.5449224559289978,
54
+ 1.300035
55
+ ],
56
+ "offset": [
57
+ -0.9088468876427245,
58
+ 2.0816681711721685e-17,
59
+ 0.46
60
+ ],
61
+ "name": "geom_1"
62
+ }
63
+ }
64
+ ],
65
+ "fixtures": {
66
+ "wall_right_1_room": {
67
+ "cls": "Wall"
68
+ },
69
+ "wall_right_1_backing_room": {
70
+ "cls": "Wall"
71
+ },
72
+ "wall_main_1_room": {
73
+ "cls": "Wall"
74
+ },
75
+ "wall_main_1_backing_room": {
76
+ "cls": "Wall"
77
+ },
78
+ "wall_right_3_room": {
79
+ "cls": "Wall"
80
+ },
81
+ "wall_right_3_backing_room": {
82
+ "cls": "Wall"
83
+ },
84
+ "wall_right_2_room": {
85
+ "cls": "Wall"
86
+ },
87
+ "wall_right_2_backing_room": {
88
+ "cls": "Wall"
89
+ },
90
+ "wall_main_2_room": {
91
+ "cls": "Wall"
92
+ },
93
+ "wall_main_2_backing_room": {
94
+ "cls": "Wall"
95
+ },
96
+ "floor_1_room": {
97
+ "cls": "Floor"
98
+ },
99
+ "floor_1_backing_room": {
100
+ "cls": "Floor"
101
+ },
102
+ "floor_2_room": {
103
+ "cls": "Floor"
104
+ },
105
+ "floor_2_backing_room": {
106
+ "cls": "Floor"
107
+ },
108
+ "wallaccessory_06_room": {
109
+ "cls": "WallAccessory"
110
+ },
111
+ "lightswitch_01_room": {
112
+ "cls": "WallAccessory"
113
+ },
114
+ "wallaccessory_03_room": {
115
+ "cls": "WallAccessory"
116
+ },
117
+ "wallaccessory_04_room": {
118
+ "cls": "WallAccessory"
119
+ },
120
+ "stool_1_room": {
121
+ "cls": "Stool"
122
+ },
123
+ "stool_2_room": {
124
+ "cls": "Stool"
125
+ },
126
+ "stool_3_room": {
127
+ "cls": "Stool"
128
+ },
129
+ "stool_4_room": {
130
+ "cls": "Stool"
131
+ },
132
+ "stool_5_room": {
133
+ "cls": "Stool"
134
+ },
135
+ "stool_6_room": {
136
+ "cls": "Stool"
137
+ },
138
+ "dining_dining_area_group": {
139
+ "cls": "Counter"
140
+ },
141
+ "cube_1_dining_area_group": {
142
+ "cls": "Box"
143
+ },
144
+ "cube_2_dining_area_group": {
145
+ "cls": "Box"
146
+ },
147
+ "fridgefrenchdoor_main_group_1": {
148
+ "cls": "FridgeFrenchDoor"
149
+ },
150
+ "fridgefrenchdoor_housing_main_group_1": {
151
+ "cls": "HousingCabinet"
152
+ },
153
+ "bottom_main_group_1_base": {
154
+ "cls": "Box"
155
+ },
156
+ "bottom_main_group_1_1": {
157
+ "cls": "Drawer"
158
+ },
159
+ "microwave_main_group_1": {
160
+ "cls": "Microwave"
161
+ },
162
+ "hingecabinet_02_main_group_1": {
163
+ "cls": "HingeCabinet"
164
+ },
165
+ "oven_cabinet_main_group_1": {
166
+ "cls": "HingeCabinet"
167
+ },
168
+ "microwave_housing_main_group_1": {
169
+ "cls": "HousingCabinet"
170
+ },
171
+ "top_main_group_1": {
172
+ "cls": "HingeCabinet"
173
+ },
174
+ "hingecabinet_01_main_group_1": {
175
+ "cls": "HingeCabinet"
176
+ },
177
+ "singlecabinet_1_main_group_1": {
178
+ "cls": "SingleCabinet"
179
+ },
180
+ "singlecabinet_2_main_group_1": {
181
+ "cls": "SingleCabinet"
182
+ },
183
+ "counter_2_main_group_1": {
184
+ "cls": "Counter"
185
+ },
186
+ "counter_1_main_group_1": {
187
+ "cls": "Counter"
188
+ },
189
+ "stove_main_group_1": {
190
+ "cls": "Stove"
191
+ },
192
+ "stove_hood_main_group_1": {
193
+ "cls": "Hood"
194
+ },
195
+ "stack_01_main_group_1_base": {
196
+ "cls": "Box"
197
+ },
198
+ "stack_01_main_group_1_1": {
199
+ "cls": "Drawer"
200
+ },
201
+ "stack_01_main_group_1_2": {
202
+ "cls": "Drawer"
203
+ },
204
+ "stack_01_main_group_1_3": {
205
+ "cls": "Drawer"
206
+ },
207
+ "stack_02_main_group_1_base": {
208
+ "cls": "Box"
209
+ },
210
+ "stack_02_main_group_1_1": {
211
+ "cls": "Drawer"
212
+ },
213
+ "stack_02_main_group_1_2": {
214
+ "cls": "Drawer"
215
+ },
216
+ "stack_02_main_group_1_3": {
217
+ "cls": "Drawer"
218
+ },
219
+ "stack_03_main_group_1_base": {
220
+ "cls": "Box"
221
+ },
222
+ "stack_03_main_group_1_1": {
223
+ "cls": "HingeCabinet"
224
+ },
225
+ "stack_03_main_group_1_2": {
226
+ "cls": "Drawer"
227
+ },
228
+ "coffee_machine_main_group_1": {
229
+ "cls": "CoffeeMachine"
230
+ },
231
+ "toaster_main_group_1": {
232
+ "cls": "Toaster"
233
+ },
234
+ "toaster_oven_main_group_1": {
235
+ "cls": "ToasterOven"
236
+ },
237
+ "sink_front_group_1": {
238
+ "cls": "Sink"
239
+ },
240
+ "counter_2_front_group_1": {
241
+ "cls": "Counter"
242
+ },
243
+ "stack_05_front_group_1_base": {
244
+ "cls": "Box"
245
+ },
246
+ "stack_05_front_group_1_1": {
247
+ "cls": "HingeCabinet"
248
+ },
249
+ "stack_05_front_group_1_2": {
250
+ "cls": "PanelCabinet"
251
+ },
252
+ "stack_08_front_group_1_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_08_front_group_1_1": {
256
+ "cls": "HingeCabinet"
257
+ },
258
+ "stack_08_front_group_1_2": {
259
+ "cls": "Drawer"
260
+ },
261
+ "stack_06_front_group_1_base": {
262
+ "cls": "Box"
263
+ },
264
+ "stack_06_front_group_1_1": {
265
+ "cls": "SingleCabinet"
266
+ },
267
+ "stack_04_front_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "stack_04_front_group_1_1": {
271
+ "cls": "HingeCabinet"
272
+ },
273
+ "stack_04_front_group_1_2": {
274
+ "cls": "Drawer"
275
+ },
276
+ "dishwasher_1_front_group_1": {
277
+ "cls": "Dishwasher"
278
+ },
279
+ "stack_12_front_group_1_base": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_12_front_group_1_1": {
283
+ "cls": "HingeCabinet"
284
+ },
285
+ "stack_12_front_group_1_2": {
286
+ "cls": "Drawer"
287
+ },
288
+ "plant_front_group_1": {
289
+ "cls": "Accessory"
290
+ },
291
+ "paper_towel_front_group_1": {
292
+ "cls": "Accessory"
293
+ },
294
+ "stand_mixer_front_group_1": {
295
+ "cls": "StandMixer"
296
+ },
297
+ "cube_1_front_group_2": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_11_front_group_2_base": {
301
+ "cls": "Box"
302
+ },
303
+ "stack_11_front_group_2_1": {
304
+ "cls": "HingeCabinet"
305
+ },
306
+ "stack_10_front_group_2_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_10_front_group_2_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "stack_09_front_group_2_base": {
313
+ "cls": "Box"
314
+ },
315
+ "stack_09_front_group_2_1": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "cube_2_front_group_2": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_13_front_group_2_base": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_13_front_group_2_1": {
325
+ "cls": "SingleCabinet"
326
+ }
327
+ },
328
+ "gen_textures": {},
329
+ "lang": "Place the cake in the stand mixer bowl.",
330
+ "fixture_refs": {},
331
+ "cam_configs": {
332
+ "robot0_agentview_center": {
333
+ "pos": [
334
+ -0.6,
335
+ 0.0,
336
+ 1.15
337
+ ],
338
+ "quat": [
339
+ 0.636945903301239,
340
+ 0.3325185477733612,
341
+ -0.3199238181114197,
342
+ -0.6175596117973328
343
+ ],
344
+ "parent_body": "mobilebase0_support"
345
+ },
346
+ "robot0_agentview_left": {
347
+ "pos": [
348
+ -0.5,
349
+ 0.35,
350
+ 1.05
351
+ ],
352
+ "quat": [
353
+ 0.55623853,
354
+ 0.29935253,
355
+ -0.37678665,
356
+ -0.6775092
357
+ ],
358
+ "camera_attribs": {
359
+ "fovy": "60"
360
+ },
361
+ "parent_body": "mobilebase0_support"
362
+ },
363
+ "robot0_agentview_right": {
364
+ "pos": [
365
+ -0.5,
366
+ -0.35,
367
+ 1.05
368
+ ],
369
+ "quat": [
370
+ 0.6775091886520386,
371
+ 0.3767866790294647,
372
+ -0.2993525564670563,
373
+ -0.55623859167099
374
+ ],
375
+ "camera_attribs": {
376
+ "fovy": "60"
377
+ },
378
+ "parent_body": "mobilebase0_support"
379
+ },
380
+ "robot0_frontview": {
381
+ "pos": [
382
+ -0.5,
383
+ 0,
384
+ 0.95
385
+ ],
386
+ "quat": [
387
+ 0.6088936924934387,
388
+ 0.3814677894115448,
389
+ -0.3673907518386841,
390
+ -0.5905545353889465
391
+ ],
392
+ "camera_attribs": {
393
+ "fovy": "60"
394
+ },
395
+ "parent_body": "mobilebase0_support"
396
+ },
397
+ "robot0_eye_in_hand": {
398
+ "pos": [
399
+ 0.05,
400
+ 0,
401
+ 0
402
+ ],
403
+ "quat": [
404
+ 0,
405
+ 0.707107,
406
+ 0.707107,
407
+ 0
408
+ ],
409
+ "parent_body": "robot0_right_hand"
410
+ }
411
+ },
412
+ "init_robot_base_pos": [
413
+ 5.271356610557224,
414
+ -2.640222828373313,
415
+ 0.0
416
+ ],
417
+ "init_robot_base_ori": [
418
+ 0.0,
419
+ 0.0,
420
+ 4.712230463812298
421
+ ]
422
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000078/ep_meta.json ADDED
@@ -0,0 +1,432 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 16,
3
+ "style_id": 44,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "island_island_group",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_island_group",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.07381952907999997,
20
+ 0.09196764158999997,
21
+ 0.04518113825499998
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "cheese",
38
+ "dairy",
39
+ "food",
40
+ "in_container",
41
+ "food_set1"
42
+ ],
43
+ "groups": [
44
+ "cheese",
45
+ "bread",
46
+ "cake"
47
+ ],
48
+ "cat": "cheese",
49
+ "split": "train",
50
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml"
51
+ },
52
+ "reset_region": {
53
+ "size": [
54
+ 1.393317827583917,
55
+ 0.976
56
+ ],
57
+ "offset": [
58
+ 0.7183410862080415,
59
+ 0.0,
60
+ 0.46
61
+ ],
62
+ "name": "geom_1"
63
+ }
64
+ }
65
+ ],
66
+ "fixtures": {
67
+ "wall_left_3_room": {
68
+ "cls": "Wall"
69
+ },
70
+ "wall_left_3_backing_room": {
71
+ "cls": "Wall"
72
+ },
73
+ "wall_main_room": {
74
+ "cls": "Wall"
75
+ },
76
+ "wall_main_backing_room": {
77
+ "cls": "Wall"
78
+ },
79
+ "wall_right_1_room": {
80
+ "cls": "Wall"
81
+ },
82
+ "wall_right_1_backing_room": {
83
+ "cls": "Wall"
84
+ },
85
+ "wall_left_2_room": {
86
+ "cls": "Wall"
87
+ },
88
+ "wall_left_2_backing_room": {
89
+ "cls": "Wall"
90
+ },
91
+ "wall_left_1_room": {
92
+ "cls": "Wall"
93
+ },
94
+ "wall_left_1_backing_room": {
95
+ "cls": "Wall"
96
+ },
97
+ "wall_left_4_room": {
98
+ "cls": "Wall"
99
+ },
100
+ "wall_left_4_backing_room": {
101
+ "cls": "Wall"
102
+ },
103
+ "wall_left_5_room": {
104
+ "cls": "Wall"
105
+ },
106
+ "wall_left_5_backing_room": {
107
+ "cls": "Wall"
108
+ },
109
+ "wall_right_3_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_right_3_backing_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_right_2_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_right_2_backing_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_right_4_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_right_4_backing_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "floor_1_room": {
128
+ "cls": "Floor"
129
+ },
130
+ "floor_1_backing_room": {
131
+ "cls": "Floor"
132
+ },
133
+ "floor_2_room": {
134
+ "cls": "Floor"
135
+ },
136
+ "floor_2_backing_room": {
137
+ "cls": "Floor"
138
+ },
139
+ "wall_accessory_1_room": {
140
+ "cls": "WallAccessory"
141
+ },
142
+ "wall_accessory_2_room": {
143
+ "cls": "WallAccessory"
144
+ },
145
+ "wall_accessory_3_room": {
146
+ "cls": "WallAccessory"
147
+ },
148
+ "light_switch_1_room": {
149
+ "cls": "WallAccessory"
150
+ },
151
+ "light_switch_2_room": {
152
+ "cls": "WallAccessory"
153
+ },
154
+ "stool_1_room": {
155
+ "cls": "Stool"
156
+ },
157
+ "stool_2_room": {
158
+ "cls": "Stool"
159
+ },
160
+ "stool_3_room": {
161
+ "cls": "Stool"
162
+ },
163
+ "counter_1_main_group_1": {
164
+ "cls": "Counter"
165
+ },
166
+ "stove_main_group_1": {
167
+ "cls": "Stove"
168
+ },
169
+ "counter_corner_main_group_1": {
170
+ "cls": "Counter"
171
+ },
172
+ "stack_1_main_group_1_base": {
173
+ "cls": "Box"
174
+ },
175
+ "stack_1_main_group_1_1": {
176
+ "cls": "SingleCabinet"
177
+ },
178
+ "fridge_1_main_group_1": {
179
+ "cls": "FridgeFrenchDoor"
180
+ },
181
+ "fridge_1_housing_main_group_1": {
182
+ "cls": "HousingCabinet"
183
+ },
184
+ "fridge_top_main_group_1": {
185
+ "cls": "HingeCabinet"
186
+ },
187
+ "cab_1_main_group_1": {
188
+ "cls": "SingleCabinet"
189
+ },
190
+ "cab_corner_main_group_1": {
191
+ "cls": "Box"
192
+ },
193
+ "microwave_main_group_1": {
194
+ "cls": "Microwave"
195
+ },
196
+ "cab_2_main_group_1": {
197
+ "cls": "HingeCabinet"
198
+ },
199
+ "cab_3_main_group_1": {
200
+ "cls": "SingleCabinet"
201
+ },
202
+ "paper_towel_main_group_1": {
203
+ "cls": "Accessory"
204
+ },
205
+ "sink_1_right_group_1": {
206
+ "cls": "Sink"
207
+ },
208
+ "counter_1_right_group_1": {
209
+ "cls": "Counter"
210
+ },
211
+ "box_1_right_group_1": {
212
+ "cls": "Box"
213
+ },
214
+ "stack_1_right_group_1_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_1_right_group_1_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "stack_1_right_group_1_2": {
221
+ "cls": "Drawer"
222
+ },
223
+ "stack_1_right_group_1_3": {
224
+ "cls": "Drawer"
225
+ },
226
+ "stack_2_right_group_1_base": {
227
+ "cls": "Box"
228
+ },
229
+ "stack_2_right_group_1_1": {
230
+ "cls": "HingeCabinet"
231
+ },
232
+ "stack_2_right_group_1_2": {
233
+ "cls": "Drawer"
234
+ },
235
+ "stack_2_right_group_1_3": {
236
+ "cls": "Drawer"
237
+ },
238
+ "stack_3_right_group_1_base": {
239
+ "cls": "Box"
240
+ },
241
+ "stack_3_right_group_1_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "stack_3_right_group_1_2": {
245
+ "cls": "PanelCabinet"
246
+ },
247
+ "stack_4_right_group_1_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_4_right_group_1_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "stack_4_right_group_1_2": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_4_right_group_1_3": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_5_right_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_5_right_group_1_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "stack_5_right_group_1_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_5_right_group_1_3": {
269
+ "cls": "Drawer"
270
+ },
271
+ "dishwasher_right_group_1": {
272
+ "cls": "Dishwasher"
273
+ },
274
+ "panel_stack_right_group_1_base": {
275
+ "cls": "Box"
276
+ },
277
+ "panel_stack_right_group_1_1": {
278
+ "cls": "PanelCabinet"
279
+ },
280
+ "cab_1_right_group_1": {
281
+ "cls": "HingeCabinet"
282
+ },
283
+ "cab_2_right_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "coffee_machine_right_group_1": {
287
+ "cls": "CoffeeMachine"
288
+ },
289
+ "toaster_oven_right_group_1": {
290
+ "cls": "ToasterOven"
291
+ },
292
+ "toaster_right_group_1": {
293
+ "cls": "Toaster"
294
+ },
295
+ "island_island_group": {
296
+ "cls": "Counter"
297
+ },
298
+ "stack_1_island_group_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_1_island_group_1": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_1_island_group_2": {
305
+ "cls": "Drawer"
306
+ },
307
+ "box_1_island_group": {
308
+ "cls": "Box"
309
+ },
310
+ "box_2_island_group": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_2_island_group_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_2_island_group_1": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_2_island_group_2": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_2_island_group_3": {
323
+ "cls": "Drawer"
324
+ },
325
+ "stack_3_island_group_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_3_island_group_1": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_3_island_group_2": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stand_mixer_island_group": {
335
+ "cls": "StandMixer"
336
+ }
337
+ },
338
+ "gen_textures": {},
339
+ "lang": "Place the cheese in the stand mixer bowl.",
340
+ "fixture_refs": {},
341
+ "cam_configs": {
342
+ "robot0_agentview_center": {
343
+ "pos": [
344
+ -0.6,
345
+ 0.0,
346
+ 1.15
347
+ ],
348
+ "quat": [
349
+ 0.636945903301239,
350
+ 0.3325185477733612,
351
+ -0.3199238181114197,
352
+ -0.6175596117973328
353
+ ],
354
+ "parent_body": "mobilebase0_support"
355
+ },
356
+ "robot0_agentview_left": {
357
+ "pos": [
358
+ -0.5,
359
+ 0.35,
360
+ 1.05
361
+ ],
362
+ "quat": [
363
+ 0.55623853,
364
+ 0.29935253,
365
+ -0.37678665,
366
+ -0.6775092
367
+ ],
368
+ "camera_attribs": {
369
+ "fovy": "60"
370
+ },
371
+ "parent_body": "mobilebase0_support"
372
+ },
373
+ "robot0_agentview_right": {
374
+ "pos": [
375
+ -0.5,
376
+ -0.35,
377
+ 1.05
378
+ ],
379
+ "quat": [
380
+ 0.6775091886520386,
381
+ 0.3767866790294647,
382
+ -0.2993525564670563,
383
+ -0.55623859167099
384
+ ],
385
+ "camera_attribs": {
386
+ "fovy": "60"
387
+ },
388
+ "parent_body": "mobilebase0_support"
389
+ },
390
+ "robot0_frontview": {
391
+ "pos": [
392
+ -0.5,
393
+ 0,
394
+ 0.95
395
+ ],
396
+ "quat": [
397
+ 0.6088936924934387,
398
+ 0.3814677894115448,
399
+ -0.3673907518386841,
400
+ -0.5905545353889465
401
+ ],
402
+ "camera_attribs": {
403
+ "fovy": "60"
404
+ },
405
+ "parent_body": "mobilebase0_support"
406
+ },
407
+ "robot0_eye_in_hand": {
408
+ "pos": [
409
+ 0.05,
410
+ 0,
411
+ 0
412
+ ],
413
+ "quat": [
414
+ 0,
415
+ 0.707107,
416
+ 0.707107,
417
+ 0
418
+ ],
419
+ "parent_body": "robot0_right_hand"
420
+ }
421
+ },
422
+ "init_robot_base_pos": [
423
+ 0.7896379226402672,
424
+ -3.5827269615761983,
425
+ 0.0
426
+ ],
427
+ "init_robot_base_ori": [
428
+ 0.0,
429
+ 0.0,
430
+ 3.14159245077386
431
+ ]
432
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000079/ep_meta.json ADDED
@@ -0,0 +1,425 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 13,
3
+ "style_id": 23,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "counter_1_main_group_1",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_main_group_1",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.08248466015999999,
20
+ 0.08059432751999998,
21
+ 0.06550323
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "bread",
38
+ "bread_food",
39
+ "food",
40
+ "in_container"
41
+ ],
42
+ "groups": [
43
+ "cheese",
44
+ "bread",
45
+ "cake"
46
+ ],
47
+ "cat": "bread",
48
+ "split": "train",
49
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml"
50
+ },
51
+ "reset_region": {
52
+ "size": [
53
+ 0.9422463108739207,
54
+ 0.65
55
+ ],
56
+ "offset": [
57
+ -1.2313768445630395,
58
+ -3.469446951953614e-17,
59
+ 0.46
60
+ ],
61
+ "name": "geom_0"
62
+ }
63
+ }
64
+ ],
65
+ "fixtures": {
66
+ "wall_left_1_room": {
67
+ "cls": "Wall"
68
+ },
69
+ "wall_left_1_backing_room": {
70
+ "cls": "Wall"
71
+ },
72
+ "wall_main_room": {
73
+ "cls": "Wall"
74
+ },
75
+ "wall_main_backing_room": {
76
+ "cls": "Wall"
77
+ },
78
+ "wall_right_1_room": {
79
+ "cls": "Wall"
80
+ },
81
+ "wall_right_1_backing_room": {
82
+ "cls": "Wall"
83
+ },
84
+ "floor_1_room": {
85
+ "cls": "Floor"
86
+ },
87
+ "floor_1_backing_room": {
88
+ "cls": "Floor"
89
+ },
90
+ "wall_accessory_1_room": {
91
+ "cls": "WallAccessory"
92
+ },
93
+ "wall_accessory_2_room": {
94
+ "cls": "WallAccessory"
95
+ },
96
+ "wall_accessory_3_room": {
97
+ "cls": "WallAccessory"
98
+ },
99
+ "light_switch_room": {
100
+ "cls": "WallAccessory"
101
+ },
102
+ "wall_accessory_4_room": {
103
+ "cls": "WallAccessory"
104
+ },
105
+ "wall_accessory_5_room": {
106
+ "cls": "WallAccessory"
107
+ },
108
+ "wall_accessory_6_room": {
109
+ "cls": "WallAccessory"
110
+ },
111
+ "window_group_1_room": {
112
+ "cls": "Window"
113
+ },
114
+ "stool_1_room": {
115
+ "cls": "Stool"
116
+ },
117
+ "stool_2_room": {
118
+ "cls": "Stool"
119
+ },
120
+ "counter_corner_1_main_group_1": {
121
+ "cls": "Counter"
122
+ },
123
+ "sink_1_main_group_1": {
124
+ "cls": "Sink"
125
+ },
126
+ "counter_1_main_group_1": {
127
+ "cls": "Counter"
128
+ },
129
+ "counter_corner_2_main_group_1": {
130
+ "cls": "Counter"
131
+ },
132
+ "stack_1_main_group_1_base": {
133
+ "cls": "Box"
134
+ },
135
+ "stack_1_main_group_1_1": {
136
+ "cls": "SingleCabinet"
137
+ },
138
+ "box_1_main_group_1": {
139
+ "cls": "Box"
140
+ },
141
+ "stack_2_main_group_1_base": {
142
+ "cls": "Box"
143
+ },
144
+ "stack_2_main_group_1_1": {
145
+ "cls": "HingeCabinet"
146
+ },
147
+ "dishwasher_1_main_group_1": {
148
+ "cls": "Dishwasher"
149
+ },
150
+ "box_2_main_group_1": {
151
+ "cls": "Box"
152
+ },
153
+ "stack_3_main_group_1_base": {
154
+ "cls": "Box"
155
+ },
156
+ "stack_3_main_group_1_1": {
157
+ "cls": "Drawer"
158
+ },
159
+ "stack_3_main_group_1_2": {
160
+ "cls": "Drawer"
161
+ },
162
+ "stack_3_main_group_1_3": {
163
+ "cls": "Drawer"
164
+ },
165
+ "stack_4_main_group_1_base": {
166
+ "cls": "Box"
167
+ },
168
+ "stack_4_main_group_1_1": {
169
+ "cls": "SingleCabinet"
170
+ },
171
+ "stack_4_main_group_1_2": {
172
+ "cls": "Drawer"
173
+ },
174
+ "cab_corner_main_group_1": {
175
+ "cls": "Box"
176
+ },
177
+ "cab_1_main_group_1": {
178
+ "cls": "HingeCabinet"
179
+ },
180
+ "cab_2_main_group_1": {
181
+ "cls": "OpenCabinet"
182
+ },
183
+ "plant_main_group_1": {
184
+ "cls": "Accessory"
185
+ },
186
+ "paper_towel_main_group_1": {
187
+ "cls": "Accessory"
188
+ },
189
+ "stand_mixer_main_group_1": {
190
+ "cls": "StandMixer"
191
+ },
192
+ "coffee_machine_main_group_1": {
193
+ "cls": "CoffeeMachine"
194
+ },
195
+ "toaster_main_group_1": {
196
+ "cls": "Toaster"
197
+ },
198
+ "counter_1_left_group_1": {
199
+ "cls": "Counter"
200
+ },
201
+ "stove_left_group_1": {
202
+ "cls": "Stove"
203
+ },
204
+ "counter_2_left_group_1": {
205
+ "cls": "Counter"
206
+ },
207
+ "stack_1_left_group_1_base": {
208
+ "cls": "Box"
209
+ },
210
+ "stack_1_left_group_1_1": {
211
+ "cls": "PanelCabinet"
212
+ },
213
+ "stack_2_left_group_1_base": {
214
+ "cls": "Box"
215
+ },
216
+ "stack_2_left_group_1_1": {
217
+ "cls": "SingleCabinet"
218
+ },
219
+ "box_left_group_1": {
220
+ "cls": "Box"
221
+ },
222
+ "hood_left_group_1": {
223
+ "cls": "Hood"
224
+ },
225
+ "cab_1_left_group_1": {
226
+ "cls": "SingleCabinet"
227
+ },
228
+ "cab_2_left_group_1": {
229
+ "cls": "HingeCabinet"
230
+ },
231
+ "cab_3_left_group_1": {
232
+ "cls": "OpenCabinet"
233
+ },
234
+ "counter_1_right_group_1": {
235
+ "cls": "Counter"
236
+ },
237
+ "stack_1_right_group_1_base": {
238
+ "cls": "Box"
239
+ },
240
+ "stack_1_right_group_1_1": {
241
+ "cls": "SingleCabinet"
242
+ },
243
+ "stack_2_right_group_1_base": {
244
+ "cls": "Box"
245
+ },
246
+ "stack_2_right_group_1_1": {
247
+ "cls": "SingleCabinet"
248
+ },
249
+ "stack_2_right_group_1_2": {
250
+ "cls": "Drawer"
251
+ },
252
+ "box_right_group_1": {
253
+ "cls": "Box"
254
+ },
255
+ "microwave_right_group_1": {
256
+ "cls": "Microwave"
257
+ },
258
+ "microwave_housing_right_group_1": {
259
+ "cls": "HousingCabinet"
260
+ },
261
+ "top_right_group_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "fridge_1_right_group_1": {
265
+ "cls": "FridgeFrenchDoor"
266
+ },
267
+ "fridge_1_housing_right_group_1": {
268
+ "cls": "HousingCabinet"
269
+ },
270
+ "fridge_top_right_group_1": {
271
+ "cls": "HingeCabinet"
272
+ },
273
+ "cab_1_right_group_1": {
274
+ "cls": "HingeCabinet"
275
+ },
276
+ "cab_2_right_group_1": {
277
+ "cls": "SingleCabinet"
278
+ },
279
+ "toaster_oven_right_group_1": {
280
+ "cls": "ToasterOven"
281
+ },
282
+ "dining_front_group_1": {
283
+ "cls": "Counter"
284
+ },
285
+ "counter_corner_front_group_1": {
286
+ "cls": "Counter"
287
+ },
288
+ "cube_front_group_1": {
289
+ "cls": "Box"
290
+ },
291
+ "stack_1_front_group_1_base": {
292
+ "cls": "Box"
293
+ },
294
+ "stack_1_front_group_1_1": {
295
+ "cls": "SingleCabinet"
296
+ },
297
+ "stack_2_front_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_2_front_group_1_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_2_front_group_1_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_3_front_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_3_front_group_1_1": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_3_front_group_1_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_3_front_group_1_3": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_4_front_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_4_front_group_1_1": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_4_front_group_1_2": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_4_front_group_1_3": {
328
+ "cls": "Drawer"
329
+ }
330
+ },
331
+ "gen_textures": {},
332
+ "lang": "Place the bread in the stand mixer bowl.",
333
+ "fixture_refs": {},
334
+ "cam_configs": {
335
+ "robot0_agentview_center": {
336
+ "pos": [
337
+ -0.6,
338
+ 0.0,
339
+ 1.15
340
+ ],
341
+ "quat": [
342
+ 0.636945903301239,
343
+ 0.3325185477733612,
344
+ -0.3199238181114197,
345
+ -0.6175596117973328
346
+ ],
347
+ "parent_body": "mobilebase0_support"
348
+ },
349
+ "robot0_agentview_left": {
350
+ "pos": [
351
+ -0.5,
352
+ 0.35,
353
+ 1.05
354
+ ],
355
+ "quat": [
356
+ 0.55623853,
357
+ 0.29935253,
358
+ -0.37678665,
359
+ -0.6775092
360
+ ],
361
+ "camera_attribs": {
362
+ "fovy": "60"
363
+ },
364
+ "parent_body": "mobilebase0_support"
365
+ },
366
+ "robot0_agentview_right": {
367
+ "pos": [
368
+ -0.5,
369
+ -0.35,
370
+ 1.05
371
+ ],
372
+ "quat": [
373
+ 0.6775091886520386,
374
+ 0.3767866790294647,
375
+ -0.2993525564670563,
376
+ -0.55623859167099
377
+ ],
378
+ "camera_attribs": {
379
+ "fovy": "60"
380
+ },
381
+ "parent_body": "mobilebase0_support"
382
+ },
383
+ "robot0_frontview": {
384
+ "pos": [
385
+ -0.5,
386
+ 0,
387
+ 0.95
388
+ ],
389
+ "quat": [
390
+ 0.6088936924934387,
391
+ 0.3814677894115448,
392
+ -0.3673907518386841,
393
+ -0.5905545353889465
394
+ ],
395
+ "camera_attribs": {
396
+ "fovy": "60"
397
+ },
398
+ "parent_body": "mobilebase0_support"
399
+ },
400
+ "robot0_eye_in_hand": {
401
+ "pos": [
402
+ 0.05,
403
+ 0,
404
+ 0
405
+ ],
406
+ "quat": [
407
+ 0,
408
+ 0.707107,
409
+ 0.707107,
410
+ 0
411
+ ],
412
+ "parent_body": "robot0_right_hand"
413
+ }
414
+ },
415
+ "init_robot_base_pos": [
416
+ 1.8358258842932025,
417
+ -0.8279456737913691,
418
+ 0.0
419
+ ],
420
+ "init_robot_base_ori": [
421
+ 0.0,
422
+ 0.0,
423
+ 1.5707963267948966
424
+ ]
425
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000084/ep_meta.json ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 37,
3
+ "style_id": 60,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "island_island_group_1",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_island_group_1",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.08334741401672348,
20
+ 0.055294626045438215,
21
+ 0.0573767136
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "cheese",
38
+ "dairy",
39
+ "food",
40
+ "in_container",
41
+ "food_set1"
42
+ ],
43
+ "groups": [
44
+ "cheese",
45
+ "bread",
46
+ "cake"
47
+ ],
48
+ "cat": "cheese",
49
+ "split": "train",
50
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml"
51
+ },
52
+ "reset_region": {
53
+ "size": [
54
+ 0.2213541242011599,
55
+ 1.045
56
+ ],
57
+ "offset": [
58
+ 0.47893045148624525,
59
+ 2.0816681711721685e-17,
60
+ 0.46
61
+ ],
62
+ "name": "geom_0"
63
+ }
64
+ }
65
+ ],
66
+ "fixtures": {
67
+ "wall_main_1_room": {
68
+ "cls": "Wall"
69
+ },
70
+ "wall_main_1_backing_room": {
71
+ "cls": "Wall"
72
+ },
73
+ "wall_left_1_room": {
74
+ "cls": "Wall"
75
+ },
76
+ "wall_left_1_backing_room": {
77
+ "cls": "Wall"
78
+ },
79
+ "wall_main_2_room": {
80
+ "cls": "Wall"
81
+ },
82
+ "wall_main_2_backing_room": {
83
+ "cls": "Wall"
84
+ },
85
+ "wall_main_3_room": {
86
+ "cls": "Wall"
87
+ },
88
+ "wall_main_3_backing_room": {
89
+ "cls": "Wall"
90
+ },
91
+ "floor_1_room": {
92
+ "cls": "Floor"
93
+ },
94
+ "floor_1_backing_room": {
95
+ "cls": "Floor"
96
+ },
97
+ "wallaccessory_1_room": {
98
+ "cls": "WallAccessory"
99
+ },
100
+ "wallaccessory_2_room": {
101
+ "cls": "WallAccessory"
102
+ },
103
+ "stool_1_room": {
104
+ "cls": "Stool"
105
+ },
106
+ "stool_2_room": {
107
+ "cls": "Stool"
108
+ },
109
+ "stool_3_room": {
110
+ "cls": "Stool"
111
+ },
112
+ "stovetop_left_group_1": {
113
+ "cls": "Stovetop"
114
+ },
115
+ "counter_1_left_group_1": {
116
+ "cls": "Counter"
117
+ },
118
+ "hingecabinet_2_left_group_1": {
119
+ "cls": "HingeCabinet"
120
+ },
121
+ "hingecabinet_1_left_group_1": {
122
+ "cls": "HingeCabinet"
123
+ },
124
+ "microwave_left_group_1": {
125
+ "cls": "Microwave"
126
+ },
127
+ "cab_micro_left_group_1": {
128
+ "cls": "HingeCabinet"
129
+ },
130
+ "cube_1_left_group_1": {
131
+ "cls": "Box"
132
+ },
133
+ "fridgefrenchdoor_left_group_1": {
134
+ "cls": "FridgeFrenchDoor"
135
+ },
136
+ "fridgefrenchdoor_housing_left_group_1": {
137
+ "cls": "HousingCabinet"
138
+ },
139
+ "bottom_left_group_1_base": {
140
+ "cls": "Box"
141
+ },
142
+ "bottom_left_group_1_1": {
143
+ "cls": "Drawer"
144
+ },
145
+ "oven_left_group_1": {
146
+ "cls": "Oven"
147
+ },
148
+ "oven_housing_left_group_1": {
149
+ "cls": "HousingCabinet"
150
+ },
151
+ "hingecabinet_3_left_group_1": {
152
+ "cls": "HingeCabinet"
153
+ },
154
+ "microwave_cabinet_left_group_1": {
155
+ "cls": "HingeCabinet"
156
+ },
157
+ "top_left_group_1": {
158
+ "cls": "HingeCabinet"
159
+ },
160
+ "stack_1_left_group_1_base": {
161
+ "cls": "Box"
162
+ },
163
+ "stack_1_left_group_1_1": {
164
+ "cls": "HingeCabinet"
165
+ },
166
+ "stack_1_left_group_1_2": {
167
+ "cls": "Drawer"
168
+ },
169
+ "stack_2_left_group_1_base": {
170
+ "cls": "Box"
171
+ },
172
+ "stack_2_left_group_1_1": {
173
+ "cls": "Drawer"
174
+ },
175
+ "stack_2_left_group_1_2": {
176
+ "cls": "Drawer"
177
+ },
178
+ "stack_2_left_group_1_3": {
179
+ "cls": "PanelCabinet"
180
+ },
181
+ "stack_3_left_group_1_base": {
182
+ "cls": "Box"
183
+ },
184
+ "stack_3_left_group_1_1": {
185
+ "cls": "HingeCabinet"
186
+ },
187
+ "stack_3_left_group_1_2": {
188
+ "cls": "Drawer"
189
+ },
190
+ "papertowel_left_group_1": {
191
+ "cls": "Accessory"
192
+ },
193
+ "coffee_machine_left_group_1": {
194
+ "cls": "CoffeeMachine"
195
+ },
196
+ "toaster_left_group_1": {
197
+ "cls": "Toaster"
198
+ },
199
+ "sink_island_group_1": {
200
+ "cls": "Sink"
201
+ },
202
+ "island_island_group_1": {
203
+ "cls": "Counter"
204
+ },
205
+ "cube_5_island_group_1": {
206
+ "cls": "Box"
207
+ },
208
+ "cube_1_island_group_1": {
209
+ "cls": "Box"
210
+ },
211
+ "cube_2_island_group_1": {
212
+ "cls": "Box"
213
+ },
214
+ "cube_3_island_group_1": {
215
+ "cls": "Box"
216
+ },
217
+ "cube_4_island_group_1": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_2_island_group_1_base": {
221
+ "cls": "Box"
222
+ },
223
+ "stack_2_island_group_1_1": {
224
+ "cls": "SingleCabinet"
225
+ },
226
+ "stack_2_island_group_1_2": {
227
+ "cls": "Drawer"
228
+ },
229
+ "stack_1_island_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_1_island_group_1_1": {
233
+ "cls": "HingeCabinet"
234
+ },
235
+ "stack_1_island_group_1_2": {
236
+ "cls": "PanelCabinet"
237
+ },
238
+ "dishwasher_1_island_group_1": {
239
+ "cls": "Dishwasher"
240
+ },
241
+ "stand_mixer_island_group_1": {
242
+ "cls": "StandMixer"
243
+ }
244
+ },
245
+ "gen_textures": {},
246
+ "lang": "Place the cheese in the stand mixer bowl.",
247
+ "fixture_refs": {},
248
+ "cam_configs": {
249
+ "robot0_agentview_center": {
250
+ "pos": [
251
+ -0.6,
252
+ 0.0,
253
+ 1.15
254
+ ],
255
+ "quat": [
256
+ 0.636945903301239,
257
+ 0.3325185477733612,
258
+ -0.3199238181114197,
259
+ -0.6175596117973328
260
+ ],
261
+ "parent_body": "mobilebase0_support"
262
+ },
263
+ "robot0_agentview_left": {
264
+ "pos": [
265
+ -0.5,
266
+ 0.35,
267
+ 1.05
268
+ ],
269
+ "quat": [
270
+ 0.55623853,
271
+ 0.29935253,
272
+ -0.37678665,
273
+ -0.6775092
274
+ ],
275
+ "camera_attribs": {
276
+ "fovy": "60"
277
+ },
278
+ "parent_body": "mobilebase0_support"
279
+ },
280
+ "robot0_agentview_right": {
281
+ "pos": [
282
+ -0.5,
283
+ -0.35,
284
+ 1.05
285
+ ],
286
+ "quat": [
287
+ 0.6775091886520386,
288
+ 0.3767866790294647,
289
+ -0.2993525564670563,
290
+ -0.55623859167099
291
+ ],
292
+ "camera_attribs": {
293
+ "fovy": "60"
294
+ },
295
+ "parent_body": "mobilebase0_support"
296
+ },
297
+ "robot0_frontview": {
298
+ "pos": [
299
+ -0.5,
300
+ 0,
301
+ 0.95
302
+ ],
303
+ "quat": [
304
+ 0.6088936924934387,
305
+ 0.3814677894115448,
306
+ -0.3673907518386841,
307
+ -0.5905545353889465
308
+ ],
309
+ "camera_attribs": {
310
+ "fovy": "60"
311
+ },
312
+ "parent_body": "mobilebase0_support"
313
+ },
314
+ "robot0_eye_in_hand": {
315
+ "pos": [
316
+ 0.05,
317
+ 0,
318
+ 0
319
+ ],
320
+ "quat": [
321
+ 0,
322
+ 0.707107,
323
+ 0.707107,
324
+ 0
325
+ ],
326
+ "parent_body": "robot0_right_hand"
327
+ }
328
+ },
329
+ "init_robot_base_pos": [
330
+ 2.491811427001598,
331
+ -3.3010706754655863,
332
+ 0.0
333
+ ],
334
+ "init_robot_base_ori": [
335
+ 0.0,
336
+ 0.0,
337
+ -4.7153339388650295e-07
338
+ ]
339
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000087/ep_meta.json ADDED
@@ -0,0 +1,336 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 34,
3
+ "style_id": 34,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj",
7
+ "obj_groups": [
8
+ "cheese",
9
+ "bread",
10
+ "cake"
11
+ ],
12
+ "graspable": true,
13
+ "placement": {
14
+ "fixture": "island_island_group_1",
15
+ "sample_region_kwargs": {
16
+ "ref": "stand_mixer_island_group_1",
17
+ "loc": "left_right",
18
+ "min_size": [
19
+ 0.09745780899863576,
20
+ 0.06822336043711429,
21
+ 0.05857998719999997
22
+ ]
23
+ },
24
+ "size": [
25
+ 0.3,
26
+ 0.3
27
+ ],
28
+ "pos": [
29
+ "ref",
30
+ -1.0
31
+ ]
32
+ },
33
+ "type": "object",
34
+ "info": {
35
+ "groups_containing_sampled_obj": [
36
+ "all",
37
+ "cheese",
38
+ "dairy",
39
+ "food",
40
+ "in_container",
41
+ "food_set1"
42
+ ],
43
+ "groups": [
44
+ "cheese",
45
+ "bread",
46
+ "cake"
47
+ ],
48
+ "cat": "cheese",
49
+ "split": "train",
50
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_1/model.xml"
51
+ },
52
+ "reset_region": {
53
+ "size": [
54
+ 0.27666186482007027,
55
+ 1.1786
56
+ ],
57
+ "offset": [
58
+ 1.2116690675899648,
59
+ 2.0816681711721685e-17,
60
+ 0.46
61
+ ],
62
+ "name": "geom_0"
63
+ }
64
+ }
65
+ ],
66
+ "fixtures": {
67
+ "wall_main_1_room": {
68
+ "cls": "Wall"
69
+ },
70
+ "wall_main_1_backing_room": {
71
+ "cls": "Wall"
72
+ },
73
+ "wall_left_1_room": {
74
+ "cls": "Wall"
75
+ },
76
+ "wall_left_1_backing_room": {
77
+ "cls": "Wall"
78
+ },
79
+ "floor_1_room": {
80
+ "cls": "Floor"
81
+ },
82
+ "floor_1_backing_room": {
83
+ "cls": "Floor"
84
+ },
85
+ "stool_2_room": {
86
+ "cls": "Stool"
87
+ },
88
+ "stool_3_room": {
89
+ "cls": "Stool"
90
+ },
91
+ "stool_4_room": {
92
+ "cls": "Stool"
93
+ },
94
+ "stool_1_room": {
95
+ "cls": "Stool"
96
+ },
97
+ "stovetop_left_group_1": {
98
+ "cls": "Stovetop"
99
+ },
100
+ "counter_1_left_group_1": {
101
+ "cls": "Counter"
102
+ },
103
+ "hingecabinet_4_left_group_1": {
104
+ "cls": "HingeCabinet"
105
+ },
106
+ "hingecabinet_3_left_group_1": {
107
+ "cls": "HingeCabinet"
108
+ },
109
+ "hingecabinet_2_left_group_1": {
110
+ "cls": "HingeCabinet"
111
+ },
112
+ "singlecabinet_1_left_group_1": {
113
+ "cls": "SingleCabinet"
114
+ },
115
+ "bottom_left_group_1_base": {
116
+ "cls": "Box"
117
+ },
118
+ "bottom_left_group_1_1": {
119
+ "cls": "Drawer"
120
+ },
121
+ "oven_left_group_1": {
122
+ "cls": "Oven"
123
+ },
124
+ "microwave_left_group_1": {
125
+ "cls": "Microwave"
126
+ },
127
+ "fridgefrenchdoor_left_group_1": {
128
+ "cls": "FridgeFrenchDoor"
129
+ },
130
+ "fridgefrenchdoor_housing_left_group_1": {
131
+ "cls": "HousingCabinet"
132
+ },
133
+ "oven_housing_left_group_1": {
134
+ "cls": "HousingCabinet"
135
+ },
136
+ "hingecabinet_1_left_group_1": {
137
+ "cls": "HingeCabinet"
138
+ },
139
+ "microwave_housing_left_group_1": {
140
+ "cls": "HousingCabinet"
141
+ },
142
+ "top_left_group_1": {
143
+ "cls": "HingeCabinet"
144
+ },
145
+ "stack_3_left_group_1_base": {
146
+ "cls": "Box"
147
+ },
148
+ "stack_3_left_group_1_1": {
149
+ "cls": "Drawer"
150
+ },
151
+ "stack_3_left_group_1_2": {
152
+ "cls": "Drawer"
153
+ },
154
+ "stack_3_left_group_1_3": {
155
+ "cls": "PanelCabinet"
156
+ },
157
+ "stack_2_left_group_1_base": {
158
+ "cls": "Box"
159
+ },
160
+ "stack_2_left_group_1_1": {
161
+ "cls": "Drawer"
162
+ },
163
+ "stack_2_left_group_1_2": {
164
+ "cls": "Drawer"
165
+ },
166
+ "stack_2_left_group_1_3": {
167
+ "cls": "Drawer"
168
+ },
169
+ "stack_4_left_group_1_base": {
170
+ "cls": "Box"
171
+ },
172
+ "stack_4_left_group_1_1": {
173
+ "cls": "Drawer"
174
+ },
175
+ "stack_4_left_group_1_2": {
176
+ "cls": "Drawer"
177
+ },
178
+ "stack_4_left_group_1_3": {
179
+ "cls": "Drawer"
180
+ },
181
+ "stack_1_left_group_1_base": {
182
+ "cls": "Box"
183
+ },
184
+ "stack_1_left_group_1_1": {
185
+ "cls": "SingleCabinet"
186
+ },
187
+ "coffee_machine_left_group_1": {
188
+ "cls": "CoffeeMachine"
189
+ },
190
+ "toaster_left_group_1": {
191
+ "cls": "Toaster"
192
+ },
193
+ "toaster_oven_left_group_1": {
194
+ "cls": "ToasterOven"
195
+ },
196
+ "sink_island_group_1": {
197
+ "cls": "Sink"
198
+ },
199
+ "island_island_group_1": {
200
+ "cls": "Counter"
201
+ },
202
+ "cube_1_island_group_1": {
203
+ "cls": "Box"
204
+ },
205
+ "cube_2_island_group_1": {
206
+ "cls": "Box"
207
+ },
208
+ "cube_3_island_group_1": {
209
+ "cls": "Box"
210
+ },
211
+ "stack_2_island_group_1_base": {
212
+ "cls": "Box"
213
+ },
214
+ "stack_2_island_group_1_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "stack_3_island_group_1_base": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_3_island_group_1_1": {
221
+ "cls": "SingleCabinet"
222
+ },
223
+ "stack_1_island_group_1_base": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_1_island_group_1_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "cube_4_island_group_1": {
230
+ "cls": "Box"
231
+ },
232
+ "dishwasher_1_island_group_1": {
233
+ "cls": "Dishwasher"
234
+ },
235
+ "paper_towel_island_group_1": {
236
+ "cls": "Accessory"
237
+ },
238
+ "stand_mixer_island_group_1": {
239
+ "cls": "StandMixer"
240
+ }
241
+ },
242
+ "gen_textures": {},
243
+ "lang": "Place the cheese in the stand mixer bowl.",
244
+ "fixture_refs": {},
245
+ "cam_configs": {
246
+ "robot0_agentview_center": {
247
+ "pos": [
248
+ -0.6,
249
+ 0.0,
250
+ 1.15
251
+ ],
252
+ "quat": [
253
+ 0.636945903301239,
254
+ 0.3325185477733612,
255
+ -0.3199238181114197,
256
+ -0.6175596117973328
257
+ ],
258
+ "parent_body": "mobilebase0_support"
259
+ },
260
+ "robot0_agentview_left": {
261
+ "pos": [
262
+ -0.5,
263
+ 0.35,
264
+ 1.05
265
+ ],
266
+ "quat": [
267
+ 0.55623853,
268
+ 0.29935253,
269
+ -0.37678665,
270
+ -0.6775092
271
+ ],
272
+ "camera_attribs": {
273
+ "fovy": "60"
274
+ },
275
+ "parent_body": "mobilebase0_support"
276
+ },
277
+ "robot0_agentview_right": {
278
+ "pos": [
279
+ -0.5,
280
+ -0.35,
281
+ 1.05
282
+ ],
283
+ "quat": [
284
+ 0.6775091886520386,
285
+ 0.3767866790294647,
286
+ -0.2993525564670563,
287
+ -0.55623859167099
288
+ ],
289
+ "camera_attribs": {
290
+ "fovy": "60"
291
+ },
292
+ "parent_body": "mobilebase0_support"
293
+ },
294
+ "robot0_frontview": {
295
+ "pos": [
296
+ -0.5,
297
+ 0,
298
+ 0.95
299
+ ],
300
+ "quat": [
301
+ 0.6088936924934387,
302
+ 0.3814677894115448,
303
+ -0.3673907518386841,
304
+ -0.5905545353889465
305
+ ],
306
+ "camera_attribs": {
307
+ "fovy": "60"
308
+ },
309
+ "parent_body": "mobilebase0_support"
310
+ },
311
+ "robot0_eye_in_hand": {
312
+ "pos": [
313
+ 0.05,
314
+ 0,
315
+ 0
316
+ ],
317
+ "quat": [
318
+ 0,
319
+ 0.707107,
320
+ 0.707107,
321
+ 0
322
+ ],
323
+ "parent_body": "robot0_right_hand"
324
+ }
325
+ },
326
+ "init_robot_base_pos": [
327
+ 2.1276660114272765,
328
+ -3.8310035354374374,
329
+ 0.0
330
+ ],
331
+ "init_robot_base_ori": [
332
+ 0.0,
333
+ 0.0,
334
+ -4.7153339388650295e-07
335
+ ]
336
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/embodiment.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robot_name": "PandaOmron",
3
+ "robot_type": "PandaOmron",
4
+ "record_frequency": 20.0,
5
+ "body_controller_frequency": 20.0,
6
+ "hand_controller_frequency": 20.0,
7
+ "embodiment_tag": "robocasa_panda_omron"
8
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/episodes.jsonl ADDED
@@ -0,0 +1,107 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["Place the cake in the stand mixer bowl."], "length": 221}
2
+ {"episode_index": 1, "tasks": ["Place the bread in the stand mixer bowl."], "length": 276}
3
+ {"episode_index": 2, "tasks": ["Place the bread in the stand mixer bowl."], "length": 314}
4
+ {"episode_index": 3, "tasks": ["Place the cake in the stand mixer bowl."], "length": 213}
5
+ {"episode_index": 4, "tasks": ["Place the cake in the stand mixer bowl."], "length": 253}
6
+ {"episode_index": 5, "tasks": ["Place the bread in the stand mixer bowl."], "length": 223}
7
+ {"episode_index": 6, "tasks": ["Place the cake in the stand mixer bowl."], "length": 200}
8
+ {"episode_index": 7, "tasks": ["Place the bread in the stand mixer bowl."], "length": 183}
9
+ {"episode_index": 8, "tasks": ["Place the cake in the stand mixer bowl."], "length": 199}
10
+ {"episode_index": 9, "tasks": ["Place the bread in the stand mixer bowl."], "length": 255}
11
+ {"episode_index": 10, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 316}
12
+ {"episode_index": 11, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 292}
13
+ {"episode_index": 12, "tasks": ["Place the cake in the stand mixer bowl."], "length": 208}
14
+ {"episode_index": 13, "tasks": ["Place the bread in the stand mixer bowl."], "length": 278}
15
+ {"episode_index": 14, "tasks": ["Place the cake in the stand mixer bowl."], "length": 215}
16
+ {"episode_index": 15, "tasks": ["Place the bread in the stand mixer bowl."], "length": 185}
17
+ {"episode_index": 16, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 157}
18
+ {"episode_index": 17, "tasks": ["Place the cake in the stand mixer bowl."], "length": 216}
19
+ {"episode_index": 18, "tasks": ["Place the bread in the stand mixer bowl."], "length": 190}
20
+ {"episode_index": 19, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 225}
21
+ {"episode_index": 20, "tasks": ["Place the bread in the stand mixer bowl."], "length": 293}
22
+ {"episode_index": 21, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 292}
23
+ {"episode_index": 22, "tasks": ["Place the bread in the stand mixer bowl."], "length": 230}
24
+ {"episode_index": 23, "tasks": ["Place the cake in the stand mixer bowl."], "length": 188}
25
+ {"episode_index": 24, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 226}
26
+ {"episode_index": 25, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 161}
27
+ {"episode_index": 26, "tasks": ["Place the bread in the stand mixer bowl."], "length": 259}
28
+ {"episode_index": 27, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 181}
29
+ {"episode_index": 28, "tasks": ["Place the bread in the stand mixer bowl."], "length": 223}
30
+ {"episode_index": 29, "tasks": ["Place the cake in the stand mixer bowl."], "length": 249}
31
+ {"episode_index": 30, "tasks": ["Place the bread in the stand mixer bowl."], "length": 278}
32
+ {"episode_index": 31, "tasks": ["Place the bread in the stand mixer bowl."], "length": 171}
33
+ {"episode_index": 32, "tasks": ["Place the bread in the stand mixer bowl."], "length": 173}
34
+ {"episode_index": 33, "tasks": ["Place the bread in the stand mixer bowl."], "length": 310}
35
+ {"episode_index": 34, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 198}
36
+ {"episode_index": 35, "tasks": ["Place the bread in the stand mixer bowl."], "length": 787}
37
+ {"episode_index": 36, "tasks": ["Place the cake in the stand mixer bowl."], "length": 189}
38
+ {"episode_index": 37, "tasks": ["Place the cake in the stand mixer bowl."], "length": 245}
39
+ {"episode_index": 38, "tasks": ["Place the cake in the stand mixer bowl."], "length": 217}
40
+ {"episode_index": 39, "tasks": ["Place the cake in the stand mixer bowl."], "length": 256}
41
+ {"episode_index": 40, "tasks": ["Place the cake in the stand mixer bowl."], "length": 257}
42
+ {"episode_index": 41, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 200}
43
+ {"episode_index": 42, "tasks": ["Place the cake in the stand mixer bowl."], "length": 216}
44
+ {"episode_index": 43, "tasks": ["Place the bread in the stand mixer bowl."], "length": 213}
45
+ {"episode_index": 44, "tasks": ["Place the bread in the stand mixer bowl."], "length": 277}
46
+ {"episode_index": 45, "tasks": ["Place the cake in the stand mixer bowl."], "length": 183}
47
+ {"episode_index": 46, "tasks": ["Place the cake in the stand mixer bowl."], "length": 199}
48
+ {"episode_index": 47, "tasks": ["Place the cake in the stand mixer bowl."], "length": 170}
49
+ {"episode_index": 48, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 251}
50
+ {"episode_index": 49, "tasks": ["Place the bread in the stand mixer bowl."], "length": 235}
51
+ {"episode_index": 50, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 201}
52
+ {"episode_index": 51, "tasks": ["Place the bread in the stand mixer bowl."], "length": 325}
53
+ {"episode_index": 52, "tasks": ["Place the bread in the stand mixer bowl."], "length": 245}
54
+ {"episode_index": 53, "tasks": ["Place the bread in the stand mixer bowl."], "length": 200}
55
+ {"episode_index": 54, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 224}
56
+ {"episode_index": 55, "tasks": ["Place the bread in the stand mixer bowl."], "length": 216}
57
+ {"episode_index": 56, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 177}
58
+ {"episode_index": 57, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 263}
59
+ {"episode_index": 58, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 258}
60
+ {"episode_index": 59, "tasks": ["Place the cake in the stand mixer bowl."], "length": 274}
61
+ {"episode_index": 60, "tasks": ["Place the cake in the stand mixer bowl."], "length": 181}
62
+ {"episode_index": 61, "tasks": ["Place the bread in the stand mixer bowl."], "length": 174}
63
+ {"episode_index": 62, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 175}
64
+ {"episode_index": 63, "tasks": ["Place the bread in the stand mixer bowl."], "length": 230}
65
+ {"episode_index": 64, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 286}
66
+ {"episode_index": 65, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 242}
67
+ {"episode_index": 66, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 186}
68
+ {"episode_index": 67, "tasks": ["Place the cake in the stand mixer bowl."], "length": 315}
69
+ {"episode_index": 68, "tasks": ["Place the bread in the stand mixer bowl."], "length": 227}
70
+ {"episode_index": 69, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 319}
71
+ {"episode_index": 70, "tasks": ["Place the bread in the stand mixer bowl."], "length": 301}
72
+ {"episode_index": 71, "tasks": ["Place the cake in the stand mixer bowl."], "length": 203}
73
+ {"episode_index": 72, "tasks": ["Place the bread in the stand mixer bowl."], "length": 188}
74
+ {"episode_index": 73, "tasks": ["Place the bread in the stand mixer bowl."], "length": 253}
75
+ {"episode_index": 74, "tasks": ["Place the bread in the stand mixer bowl."], "length": 307}
76
+ {"episode_index": 75, "tasks": ["Place the cake in the stand mixer bowl."], "length": 163}
77
+ {"episode_index": 76, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 211}
78
+ {"episode_index": 77, "tasks": ["Place the cake in the stand mixer bowl."], "length": 353}
79
+ {"episode_index": 78, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 270}
80
+ {"episode_index": 79, "tasks": ["Place the bread in the stand mixer bowl."], "length": 200}
81
+ {"episode_index": 80, "tasks": ["Place the bread in the stand mixer bowl."], "length": 298}
82
+ {"episode_index": 81, "tasks": ["Place the cake in the stand mixer bowl."], "length": 212}
83
+ {"episode_index": 82, "tasks": ["Place the bread in the stand mixer bowl."], "length": 240}
84
+ {"episode_index": 83, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 234}
85
+ {"episode_index": 84, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 192}
86
+ {"episode_index": 85, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 239}
87
+ {"episode_index": 86, "tasks": ["Place the bread in the stand mixer bowl."], "length": 244}
88
+ {"episode_index": 87, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 229}
89
+ {"episode_index": 88, "tasks": ["Place the bread in the stand mixer bowl."], "length": 340}
90
+ {"episode_index": 89, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 199}
91
+ {"episode_index": 90, "tasks": ["Place the cake in the stand mixer bowl."], "length": 268}
92
+ {"episode_index": 91, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 196}
93
+ {"episode_index": 92, "tasks": ["Place the bread in the stand mixer bowl."], "length": 217}
94
+ {"episode_index": 93, "tasks": ["Place the cake in the stand mixer bowl."], "length": 215}
95
+ {"episode_index": 94, "tasks": ["Place the cake in the stand mixer bowl."], "length": 278}
96
+ {"episode_index": 95, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 184}
97
+ {"episode_index": 96, "tasks": ["Place the cake in the stand mixer bowl."], "length": 181}
98
+ {"episode_index": 97, "tasks": ["Place the cake in the stand mixer bowl."], "length": 232}
99
+ {"episode_index": 98, "tasks": ["Place the cake in the stand mixer bowl."], "length": 283}
100
+ {"episode_index": 99, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 196}
101
+ {"episode_index": 100, "tasks": ["Place the bread in the stand mixer bowl."], "length": 220}
102
+ {"episode_index": 101, "tasks": ["Place the bread in the stand mixer bowl."], "length": 283}
103
+ {"episode_index": 102, "tasks": ["Place the bread in the stand mixer bowl."], "length": 274}
104
+ {"episode_index": 103, "tasks": ["Place the cake in the stand mixer bowl."], "length": 214}
105
+ {"episode_index": 104, "tasks": ["Place the cheese in the stand mixer bowl."], "length": 214}
106
+ {"episode_index": 105, "tasks": ["Place the cake in the stand mixer bowl."], "length": 280}
107
+ {"episode_index": 106, "tasks": ["Place the bread in the stand mixer bowl."], "length": 192}
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/episodes_stats.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/info.json ADDED
@@ -0,0 +1,179 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "PandaOmron",
4
+ "total_episodes": 107,
5
+ "total_frames": 25467,
6
+ "total_tasks": 3,
7
+ "total_videos": 321,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:107"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "observation.images.robot0_eye_in_hand": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 20,
31
+ "video.codec": "h264",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ },
36
+ "info": {
37
+ "video.height": 256,
38
+ "video.width": 256,
39
+ "video.codec": "h264",
40
+ "video.pix_fmt": "yuv420p",
41
+ "video.is_depth_map": false,
42
+ "video.fps": 20,
43
+ "video.channels": 3,
44
+ "has_audio": false
45
+ }
46
+ },
47
+ "observation.images.robot0_agentview_left": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 256,
51
+ 256,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channel"
58
+ ],
59
+ "video_info": {
60
+ "video.fps": 20,
61
+ "video.codec": "h264",
62
+ "video.pix_fmt": "yuv420p",
63
+ "video.is_depth_map": false,
64
+ "has_audio": false
65
+ },
66
+ "info": {
67
+ "video.height": 256,
68
+ "video.width": 256,
69
+ "video.codec": "h264",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 20,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "observation.images.robot0_agentview_right": {
78
+ "dtype": "video",
79
+ "shape": [
80
+ 256,
81
+ 256,
82
+ 3
83
+ ],
84
+ "names": [
85
+ "height",
86
+ "width",
87
+ "channel"
88
+ ],
89
+ "video_info": {
90
+ "video.fps": 20,
91
+ "video.codec": "h264",
92
+ "video.pix_fmt": "yuv420p",
93
+ "video.is_depth_map": false,
94
+ "has_audio": false
95
+ },
96
+ "info": {
97
+ "video.height": 256,
98
+ "video.width": 256,
99
+ "video.codec": "h264",
100
+ "video.pix_fmt": "yuv420p",
101
+ "video.is_depth_map": false,
102
+ "video.fps": 20,
103
+ "video.channels": 3,
104
+ "has_audio": false
105
+ }
106
+ },
107
+ "annotation.human.task_description": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ]
112
+ },
113
+ "annotation.human.task_name": {
114
+ "dtype": "int64",
115
+ "shape": [
116
+ 1
117
+ ]
118
+ },
119
+ "observation.state": {
120
+ "dtype": "float64",
121
+ "shape": [
122
+ 16
123
+ ]
124
+ },
125
+ "action": {
126
+ "dtype": "float64",
127
+ "shape": [
128
+ 12
129
+ ]
130
+ },
131
+ "next.reward": {
132
+ "dtype": "float32",
133
+ "shape": [
134
+ 1
135
+ ]
136
+ },
137
+ "next.done": {
138
+ "dtype": "bool",
139
+ "shape": [
140
+ 1
141
+ ]
142
+ },
143
+ "timestamp": {
144
+ "dtype": "float32",
145
+ "shape": [
146
+ 1
147
+ ],
148
+ "names": null
149
+ },
150
+ "frame_index": {
151
+ "dtype": "int64",
152
+ "shape": [
153
+ 1
154
+ ],
155
+ "names": null
156
+ },
157
+ "episode_index": {
158
+ "dtype": "int64",
159
+ "shape": [
160
+ 1
161
+ ],
162
+ "names": null
163
+ },
164
+ "index": {
165
+ "dtype": "int64",
166
+ "shape": [
167
+ 1
168
+ ],
169
+ "names": null
170
+ },
171
+ "task_index": {
172
+ "dtype": "int64",
173
+ "shape": [
174
+ 1
175
+ ],
176
+ "names": null
177
+ }
178
+ }
179
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/modality.json ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": {
3
+ "base_position": {
4
+ "original_key": "observation.state",
5
+ "start": 0,
6
+ "end": 3
7
+ },
8
+ "base_rotation": {
9
+ "original_key": "observation.state",
10
+ "start": 3,
11
+ "end": 7
12
+ },
13
+ "end_effector_position_relative": {
14
+ "original_key": "observation.state",
15
+ "start": 7,
16
+ "end": 10
17
+ },
18
+ "end_effector_rotation_relative": {
19
+ "original_key": "observation.state",
20
+ "start": 10,
21
+ "end": 14
22
+ },
23
+ "gripper_qpos": {
24
+ "original_key": "observation.state",
25
+ "start": 14,
26
+ "end": 16
27
+ }
28
+ },
29
+ "action": {
30
+ "base_motion": {
31
+ "original_key": "action",
32
+ "start": 0,
33
+ "end": 4
34
+ },
35
+ "control_mode": {
36
+ "original_key": "action",
37
+ "start": 4,
38
+ "end": 5
39
+ },
40
+ "end_effector_position": {
41
+ "original_key": "action",
42
+ "start": 5,
43
+ "end": 8
44
+ },
45
+ "end_effector_rotation": {
46
+ "original_key": "action",
47
+ "start": 8,
48
+ "end": 11
49
+ },
50
+ "gripper_close": {
51
+ "original_key": "action",
52
+ "start": 11,
53
+ "end": 12
54
+ }
55
+ },
56
+ "video": {
57
+ "robot0_eye_in_hand": {
58
+ "original_key": "observation.images.robot0_eye_in_hand"
59
+ },
60
+ "robot0_agentview_left": {
61
+ "original_key": "observation.images.robot0_agentview_left"
62
+ },
63
+ "robot0_agentview_right": {
64
+ "original_key": "observation.images.robot0_agentview_right"
65
+ }
66
+ },
67
+ "annotation": {
68
+ "human.task_description": {
69
+ "original_key": "annotation.human.task_description"
70
+ }
71
+ }
72
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/stats.json ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "annotation.human.task_description": {
3
+ "mean": [
4
+ 0.9783248901367188
5
+ ],
6
+ "std": [
7
+ 0.7656185626983643
8
+ ],
9
+ "min": [
10
+ 0.0
11
+ ],
12
+ "max": [
13
+ 2.0
14
+ ],
15
+ "q01": [
16
+ 0.0
17
+ ],
18
+ "q99": [
19
+ 2.0
20
+ ]
21
+ },
22
+ "annotation.human.task_name": {
23
+ "mean": [
24
+ 3.0
25
+ ],
26
+ "std": [
27
+ 0.0
28
+ ],
29
+ "min": [
30
+ 3.0
31
+ ],
32
+ "max": [
33
+ 3.0
34
+ ],
35
+ "q01": [
36
+ 3.0
37
+ ],
38
+ "q99": [
39
+ 3.0
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "mean": [
44
+ 2.691612482070923,
45
+ -2.6095235347747803,
46
+ 0.700463056564331,
47
+ 0.0,
48
+ 0.0,
49
+ -0.15485504269599915,
50
+ 0.6086961030960083,
51
+ 0.2462095320224762,
52
+ 0.030977575108408928,
53
+ 0.43521666526794434,
54
+ 0.10012996941804886,
55
+ -0.015544163063168526,
56
+ -0.038847167044878006,
57
+ 0.08592776209115982,
58
+ 0.032915785908699036,
59
+ -0.03281748667359352
60
+ ],
61
+ "std": [
62
+ 1.693177342414856,
63
+ 1.0983004570007324,
64
+ 0.0006701730890199542,
65
+ 0.0,
66
+ 0.0,
67
+ 0.6896950006484985,
68
+ 0.36023640632629395,
69
+ 0.11057614535093307,
70
+ 0.21659041941165924,
71
+ 0.11560634523630142,
72
+ 0.9228309392929077,
73
+ 0.2543889582157135,
74
+ 0.24151770770549774,
75
+ 0.07858919352293015,
76
+ 0.009947715327143669,
77
+ 0.00979641918092966
78
+ ],
79
+ "min": [
80
+ -4.821934223175049,
81
+ -5.076676368713379,
82
+ 0.6999567747116089,
83
+ 0.0,
84
+ 0.0,
85
+ -1.0,
86
+ 0.0,
87
+ -0.1444164216518402,
88
+ -0.5172359347343445,
89
+ 0.22807765007019043,
90
+ -0.9996219873428345,
91
+ -0.864246666431427,
92
+ -0.6639941334724426,
93
+ 2.2735408492735587e-05,
94
+ 0.0004348511283751577,
95
+ -0.04188800975680351
96
+ ],
97
+ "max": [
98
+ 5.947403430938721,
99
+ -0.7629848718643188,
100
+ 0.7058180570602417,
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 1.0,
105
+ 0.8848381638526917,
106
+ 0.4947977662086487,
107
+ 0.7379345893859863,
108
+ 0.9995554685592651,
109
+ 0.9320511817932129,
110
+ 0.6412405967712402,
111
+ 0.589408278465271,
112
+ 0.04257528483867645,
113
+ -0.0005266079097054899
114
+ ],
115
+ "q01": [
116
+ -4.422608852386475,
117
+ -5.076564311981201,
118
+ 0.6999955773353577,
119
+ 0.0,
120
+ 0.0,
121
+ -1.0,
122
+ 2.4636806301714387e-06,
123
+ -0.01795368082821369,
124
+ -0.4405180513858795,
125
+ 0.23357969522476196,
126
+ -0.9959793090820312,
127
+ -0.5685937404632568,
128
+ -0.55799400806427,
129
+ 0.0014184039318934083,
130
+ 0.005744130816310644,
131
+ -0.04050223156809807
132
+ ],
133
+ "q99": [
134
+ 5.929377555847168,
135
+ -0.7629998922348022,
136
+ 0.7030511498451233,
137
+ 0.0,
138
+ 0.0,
139
+ 1.0,
140
+ 1.0,
141
+ 0.4953877031803131,
142
+ 0.4468928873538971,
143
+ 0.6438261866569519,
144
+ 0.9974672198295593,
145
+ 0.7574810981750488,
146
+ 0.4408355951309204,
147
+ 0.32584187388420105,
148
+ 0.04057374224066734,
149
+ -0.005645648576319218
150
+ ]
151
+ },
152
+ "action": {
153
+ "mean": [
154
+ 0.015014667995274067,
155
+ -0.0005048551829531789,
156
+ 0.0017064099665731192,
157
+ 0.0,
158
+ -0.9300270676612854,
159
+ -0.046133365482091904,
160
+ 0.006511510815471411,
161
+ -0.01650877669453621,
162
+ -0.0025804764591157436,
163
+ -0.012539881281554699,
164
+ -0.0045510707423090935,
165
+ -0.21247103810310364
166
+ ],
167
+ "std": [
168
+ 0.11250915378332138,
169
+ 0.1586950570344925,
170
+ 0.09118887037038803,
171
+ 0.0,
172
+ 0.36747488379478455,
173
+ 0.41750261187553406,
174
+ 0.4255424737930298,
175
+ 0.4638676345348358,
176
+ 0.08496559411287308,
177
+ 0.11194080114364624,
178
+ 0.09025859832763672,
179
+ 0.9772595167160034
180
+ ],
181
+ "min": [
182
+ -1.0,
183
+ -1.0,
184
+ -0.8828571438789368,
185
+ 0.0,
186
+ -1.0,
187
+ -1.0,
188
+ -1.0,
189
+ -1.0,
190
+ -0.8799999952316284,
191
+ -0.6028571724891663,
192
+ -0.6371428370475769,
193
+ -1.0
194
+ ],
195
+ "max": [
196
+ 1.0,
197
+ 1.0,
198
+ 0.9285714030265808,
199
+ 0.0,
200
+ 1.0,
201
+ 1.0,
202
+ 1.0,
203
+ 1.0,
204
+ 0.5828571319580078,
205
+ 0.8028571605682373,
206
+ 0.49142858386039734,
207
+ 1.0
208
+ ],
209
+ "q01": [
210
+ 0.0,
211
+ -0.8571428656578064,
212
+ -0.35148581862449646,
213
+ 0.0,
214
+ -1.0,
215
+ -1.0,
216
+ -1.0,
217
+ -0.9214285612106323,
218
+ -0.3199999928474426,
219
+ -0.34285715222358704,
220
+ -0.28285714983940125,
221
+ -1.0
222
+ ],
223
+ "q99": [
224
+ 0.7142857313156128,
225
+ 1.0,
226
+ 0.43811383843421936,
227
+ 0.0,
228
+ 1.0,
229
+ 0.8928571343421936,
230
+ 1.0,
231
+ 1.0,
232
+ 0.2514285743236542,
233
+ 0.35428571701049805,
234
+ 0.31142857670783997,
235
+ 1.0
236
+ ]
237
+ },
238
+ "next.reward": {
239
+ "mean": [
240
+ 0.02045784704387188
241
+ ],
242
+ "std": [
243
+ 0.14156033098697662
244
+ ],
245
+ "min": [
246
+ 0.0
247
+ ],
248
+ "max": [
249
+ 1.0
250
+ ],
251
+ "q01": [
252
+ 0.0
253
+ ],
254
+ "q99": [
255
+ 1.0
256
+ ]
257
+ },
258
+ "next.done": {
259
+ "mean": [
260
+ 0.004201515577733517
261
+ ],
262
+ "std": [
263
+ 0.06468278169631958
264
+ ],
265
+ "min": [
266
+ 0.0
267
+ ],
268
+ "max": [
269
+ 1.0
270
+ ],
271
+ "q01": [
272
+ 0.0
273
+ ],
274
+ "q99": [
275
+ 0.0
276
+ ]
277
+ },
278
+ "timestamp": {
279
+ "mean": [
280
+ 6.432339668273926
281
+ ],
282
+ "std": [
283
+ 4.800932884216309
284
+ ],
285
+ "min": [
286
+ 0.0
287
+ ],
288
+ "max": [
289
+ 39.29999923706055
290
+ ],
291
+ "q01": [
292
+ 0.10000000149011612
293
+ ],
294
+ "q99": [
295
+ 26.566991806030273
296
+ ]
297
+ },
298
+ "frame_index": {
299
+ "mean": [
300
+ 128.6468048095703
301
+ ],
302
+ "std": [
303
+ 96.01866149902344
304
+ ],
305
+ "min": [
306
+ 0.0
307
+ ],
308
+ "max": [
309
+ 786.0
310
+ ],
311
+ "q01": [
312
+ 2.0
313
+ ],
314
+ "q99": [
315
+ 531.33984375
316
+ ]
317
+ },
318
+ "episode_index": {
319
+ "mean": [
320
+ 52.93509292602539
321
+ ],
322
+ "std": [
323
+ 30.79143714904785
324
+ ],
325
+ "min": [
326
+ 0.0
327
+ ],
328
+ "max": [
329
+ 106.0
330
+ ],
331
+ "q01": [
332
+ 1.0
333
+ ],
334
+ "q99": [
335
+ 105.0
336
+ ]
337
+ },
338
+ "index": {
339
+ "mean": [
340
+ 12732.9990234375
341
+ ],
342
+ "std": [
343
+ 7351.689453125
344
+ ],
345
+ "min": [
346
+ 0.0
347
+ ],
348
+ "max": [
349
+ 25466.0
350
+ ],
351
+ "q01": [
352
+ 254.6599884033203
353
+ ],
354
+ "q99": [
355
+ 25211.33984375
356
+ ]
357
+ },
358
+ "task_index": {
359
+ "mean": [
360
+ 0.9783248901367188
361
+ ],
362
+ "std": [
363
+ 0.7656185626983643
364
+ ],
365
+ "min": [
366
+ 0.0
367
+ ],
368
+ "max": [
369
+ 2.0
370
+ ],
371
+ "q01": [
372
+ 0.0
373
+ ],
374
+ "q99": [
375
+ 2.0
376
+ ]
377
+ }
378
+ }
pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/meta/tasks.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"task_index": 0, "task": "Place the cake in the stand mixer bowl."}
2
+ {"task_index": 1, "task": "Place the bread in the stand mixer bowl."}
3
+ {"task_index": 2, "task": "Place the cheese in the stand mixer bowl."}
4
+ {"task_index": 3, "task": "PickPlaceCounterToStandMixer"}