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
cdcb1da
·
verified ·
1 Parent(s): c08e2e8

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. target/composite/LoadDishwasher/20250811/lerobot/extras/dataset_meta.json +474 -0
  2. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000018/ep_meta.json +355 -0
  3. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000037/ep_meta.json +436 -0
  4. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000049/ep_meta.json +436 -0
  5. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000064/ep_meta.json +436 -0
  6. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000079/ep_meta.json +535 -0
  7. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000259/ep_meta.json +436 -0
  8. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000272/ep_meta.json +436 -0
  9. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000296/ep_meta.json +436 -0
  10. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000306/ep_meta.json +460 -0
  11. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000311/ep_meta.json +445 -0
  12. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000339/ep_meta.json +355 -0
  13. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000349/ep_meta.json +460 -0
  14. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000382/ep_meta.json +436 -0
  15. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000423/ep_meta.json +436 -0
  16. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000441/ep_meta.json +445 -0
  17. target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000486/ep_meta.json +460 -0
  18. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000008.mp4 +3 -0
  19. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000010.mp4 +3 -0
  20. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000011.mp4 +3 -0
  21. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000013.mp4 +3 -0
  22. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000015.mp4 +3 -0
  23. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000016.mp4 +3 -0
  24. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000017.mp4 +3 -0
  25. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000020.mp4 +3 -0
  26. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000021.mp4 +3 -0
  27. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000024.mp4 +3 -0
  28. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000026.mp4 +3 -0
  29. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000027.mp4 +3 -0
  30. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000028.mp4 +3 -0
  31. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000029.mp4 +3 -0
  32. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000030.mp4 +3 -0
  33. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000031.mp4 +3 -0
  34. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000032.mp4 +3 -0
  35. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000033.mp4 +3 -0
  36. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000034.mp4 +3 -0
  37. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000036.mp4 +3 -0
  38. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000037.mp4 +3 -0
  39. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000038.mp4 +3 -0
  40. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000039.mp4 +3 -0
  41. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000043.mp4 +3 -0
  42. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000047.mp4 +3 -0
  43. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000049.mp4 +3 -0
  44. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000053.mp4 +3 -0
  45. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000054.mp4 +3 -0
  46. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000056.mp4 +3 -0
  47. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000061.mp4 +3 -0
  48. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000062.mp4 +3 -0
  49. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000063.mp4 +3 -0
  50. target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000071.mp4 +3 -0
target/composite/LoadDishwasher/20250811/lerobot/extras/dataset_meta.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "date": "8-21-2025",
3
+ "env": "LoadDishwasher",
4
+ "env_args": {
5
+ "type": 1,
6
+ "env_name": "LoadDishwasher",
7
+ "env_version": "0.5.1",
8
+ "robosuite_version": "1.5.2",
9
+ "mujoco_version": "3.3.1",
10
+ "env_kwargs": {
11
+ "env_name": "LoadDishwasher",
12
+ "robots": "PandaOmron",
13
+ "layout_ids": null,
14
+ "style_ids": null,
15
+ "obj_instance_split": "target",
16
+ "clutter_mode": 1,
17
+ "translucent_robot": false,
18
+ "layout_and_style_ids": [
19
+ [
20
+ 1,
21
+ 1
22
+ ],
23
+ [
24
+ 2,
25
+ 2
26
+ ],
27
+ [
28
+ 3,
29
+ 3
30
+ ],
31
+ [
32
+ 4,
33
+ 4
34
+ ],
35
+ [
36
+ 5,
37
+ 5
38
+ ],
39
+ [
40
+ 6,
41
+ 6
42
+ ],
43
+ [
44
+ 7,
45
+ 7
46
+ ],
47
+ [
48
+ 8,
49
+ 8
50
+ ],
51
+ [
52
+ 9,
53
+ 9
54
+ ],
55
+ [
56
+ 10,
57
+ 10
58
+ ]
59
+ ],
60
+ "controller_configs": {
61
+ "type": "HYBRID_MOBILE_BASE",
62
+ "composite_controller_specific_configs": {
63
+ "left_offset": [
64
+ 0.0,
65
+ 0.0,
66
+ 0.0
67
+ ],
68
+ "right_offset": [
69
+ -0.15,
70
+ 0.0,
71
+ 0.35
72
+ ],
73
+ "left2arm_transform": [
74
+ [
75
+ 1,
76
+ 0,
77
+ 0,
78
+ 0
79
+ ],
80
+ [
81
+ 0,
82
+ 1,
83
+ 0,
84
+ 0
85
+ ],
86
+ [
87
+ 0,
88
+ 0,
89
+ 1,
90
+ 0
91
+ ],
92
+ [
93
+ 0,
94
+ 0,
95
+ 0,
96
+ 1
97
+ ]
98
+ ],
99
+ "right2arm_transform": [
100
+ [
101
+ 0,
102
+ 0.7071068,
103
+ 0.7071068,
104
+ 0
105
+ ],
106
+ [
107
+ 1,
108
+ 0,
109
+ 0,
110
+ 0
111
+ ],
112
+ [
113
+ 0,
114
+ 0.7071068,
115
+ -0.7071068,
116
+ 0
117
+ ],
118
+ [
119
+ 0,
120
+ 0,
121
+ 0,
122
+ 1
123
+ ]
124
+ ],
125
+ "left2finger_transform": [
126
+ [
127
+ 1,
128
+ 0,
129
+ 0,
130
+ 0
131
+ ],
132
+ [
133
+ 0,
134
+ 1,
135
+ 0,
136
+ 0
137
+ ],
138
+ [
139
+ 0,
140
+ 0,
141
+ 1,
142
+ 0
143
+ ],
144
+ [
145
+ 0,
146
+ 0,
147
+ 0,
148
+ 1
149
+ ]
150
+ ],
151
+ "right2finger_transform": [
152
+ [
153
+ 1,
154
+ 0,
155
+ 0,
156
+ 0
157
+ ],
158
+ [
159
+ 0,
160
+ 1,
161
+ 0,
162
+ 0
163
+ ],
164
+ [
165
+ 0,
166
+ 0,
167
+ 1,
168
+ 0
169
+ ],
170
+ [
171
+ 0,
172
+ 0,
173
+ 0,
174
+ 1
175
+ ]
176
+ ],
177
+ "body_part_ordering": [
178
+ "right",
179
+ "right_gripper",
180
+ "base",
181
+ "torso"
182
+ ]
183
+ },
184
+ "body_parts": {
185
+ "right": {
186
+ "type": "OSC_POSE",
187
+ "input_max": 1,
188
+ "input_min": -1,
189
+ "output_max": [
190
+ 0.05,
191
+ 0.05,
192
+ 0.05,
193
+ 0.5,
194
+ 0.5,
195
+ 0.5
196
+ ],
197
+ "output_min": [
198
+ -0.05,
199
+ -0.05,
200
+ -0.05,
201
+ -0.5,
202
+ -0.5,
203
+ -0.5
204
+ ],
205
+ "kp": 150,
206
+ "damping_ratio": 1,
207
+ "impedance_mode": "fixed",
208
+ "kp_limits": [
209
+ 0,
210
+ 300
211
+ ],
212
+ "damping_ratio_limits": [
213
+ 0,
214
+ 10
215
+ ],
216
+ "position_limits": null,
217
+ "orientation_limits": null,
218
+ "uncouple_pos_ori": true,
219
+ "input_type": "delta",
220
+ "input_ref_frame": "base",
221
+ "interpolation": null,
222
+ "ramp_ratio": 0.2,
223
+ "gripper": {
224
+ "type": "GRIP"
225
+ }
226
+ },
227
+ "torso": {
228
+ "type": "JOINT_POSITION",
229
+ "interpolation": "null",
230
+ "kp": 2000
231
+ },
232
+ "base": {
233
+ "type": "JOINT_VELOCITY",
234
+ "interpolation": "null"
235
+ }
236
+ }
237
+ }
238
+ }
239
+ },
240
+ "env_info": {
241
+ "env_name": "LoadDishwasher",
242
+ "robots": "PandaOmron",
243
+ "layout_ids": null,
244
+ "style_ids": null,
245
+ "obj_instance_split": "target",
246
+ "clutter_mode": 1,
247
+ "translucent_robot": true,
248
+ "layout_and_style_ids": [
249
+ [
250
+ 1,
251
+ 1
252
+ ],
253
+ [
254
+ 2,
255
+ 2
256
+ ],
257
+ [
258
+ 3,
259
+ 3
260
+ ],
261
+ [
262
+ 4,
263
+ 4
264
+ ],
265
+ [
266
+ 5,
267
+ 5
268
+ ],
269
+ [
270
+ 6,
271
+ 6
272
+ ],
273
+ [
274
+ 7,
275
+ 7
276
+ ],
277
+ [
278
+ 8,
279
+ 8
280
+ ],
281
+ [
282
+ 9,
283
+ 9
284
+ ],
285
+ [
286
+ 10,
287
+ 10
288
+ ]
289
+ ],
290
+ "controller_configs": {
291
+ "type": "HYBRID_MOBILE_BASE",
292
+ "composite_controller_specific_configs": {
293
+ "left_offset": [
294
+ 0.0,
295
+ 0.0,
296
+ 0.0
297
+ ],
298
+ "right_offset": [
299
+ -0.15,
300
+ 0.0,
301
+ 0.35
302
+ ],
303
+ "left2arm_transform": [
304
+ [
305
+ 1,
306
+ 0,
307
+ 0,
308
+ 0
309
+ ],
310
+ [
311
+ 0,
312
+ 1,
313
+ 0,
314
+ 0
315
+ ],
316
+ [
317
+ 0,
318
+ 0,
319
+ 1,
320
+ 0
321
+ ],
322
+ [
323
+ 0,
324
+ 0,
325
+ 0,
326
+ 1
327
+ ]
328
+ ],
329
+ "right2arm_transform": [
330
+ [
331
+ 0,
332
+ 0.7071068,
333
+ 0.7071068,
334
+ 0
335
+ ],
336
+ [
337
+ 1,
338
+ 0,
339
+ 0,
340
+ 0
341
+ ],
342
+ [
343
+ 0,
344
+ 0.7071068,
345
+ -0.7071068,
346
+ 0
347
+ ],
348
+ [
349
+ 0,
350
+ 0,
351
+ 0,
352
+ 1
353
+ ]
354
+ ],
355
+ "left2finger_transform": [
356
+ [
357
+ 1,
358
+ 0,
359
+ 0,
360
+ 0
361
+ ],
362
+ [
363
+ 0,
364
+ 1,
365
+ 0,
366
+ 0
367
+ ],
368
+ [
369
+ 0,
370
+ 0,
371
+ 1,
372
+ 0
373
+ ],
374
+ [
375
+ 0,
376
+ 0,
377
+ 0,
378
+ 1
379
+ ]
380
+ ],
381
+ "right2finger_transform": [
382
+ [
383
+ 1,
384
+ 0,
385
+ 0,
386
+ 0
387
+ ],
388
+ [
389
+ 0,
390
+ 1,
391
+ 0,
392
+ 0
393
+ ],
394
+ [
395
+ 0,
396
+ 0,
397
+ 1,
398
+ 0
399
+ ],
400
+ [
401
+ 0,
402
+ 0,
403
+ 0,
404
+ 1
405
+ ]
406
+ ],
407
+ "body_part_ordering": [
408
+ "right",
409
+ "right_gripper",
410
+ "base",
411
+ "torso"
412
+ ]
413
+ },
414
+ "body_parts": {
415
+ "right": {
416
+ "type": "OSC_POSE",
417
+ "input_max": 1,
418
+ "input_min": -1,
419
+ "output_max": [
420
+ 0.05,
421
+ 0.05,
422
+ 0.05,
423
+ 0.5,
424
+ 0.5,
425
+ 0.5
426
+ ],
427
+ "output_min": [
428
+ -0.05,
429
+ -0.05,
430
+ -0.05,
431
+ -0.5,
432
+ -0.5,
433
+ -0.5
434
+ ],
435
+ "kp": 150,
436
+ "damping_ratio": 1,
437
+ "impedance_mode": "fixed",
438
+ "kp_limits": [
439
+ 0,
440
+ 300
441
+ ],
442
+ "damping_ratio_limits": [
443
+ 0,
444
+ 10
445
+ ],
446
+ "position_limits": null,
447
+ "orientation_limits": null,
448
+ "uncouple_pos_ori": true,
449
+ "input_type": "delta",
450
+ "input_ref_frame": "base",
451
+ "interpolation": null,
452
+ "ramp_ratio": 0.2,
453
+ "gripper": {
454
+ "type": "GRIP"
455
+ }
456
+ },
457
+ "torso": {
458
+ "type": "JOINT_POSITION",
459
+ "interpolation": "null",
460
+ "kp": 2000
461
+ },
462
+ "base": {
463
+ "type": "JOINT_VELOCITY",
464
+ "interpolation": "null"
465
+ }
466
+ }
467
+ }
468
+ },
469
+ "mujoco_version": "3.3.1",
470
+ "robocasa_version": "0.5.1",
471
+ "robosuite_version": "1.5.2",
472
+ "time": "15:5:22",
473
+ "total": 369430
474
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000018/ep_meta.json ADDED
@@ -0,0 +1,355 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 1,
3
+ "style_id": 1,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_main_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_main_group",
12
+ "min_size": [
13
+ 0.08707892339999997,
14
+ 0.08707892024999996,
15
+ 0.10499999999999995
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "receptacle",
33
+ "stackable"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.7256472459073544,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.5750000075896851,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_main_main_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_main_group",
63
+ "min_size": [
64
+ 0.11999818679999995,
65
+ 0.11999429999999994,
66
+ 0.049354819199999976
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "receptacle",
84
+ "stackable",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.7256472459073544,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.5750000075896851,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "floor_room": {
129
+ "cls": "Floor"
130
+ },
131
+ "floor_backing_room": {
132
+ "cls": "Floor"
133
+ },
134
+ "outlet_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "outlet_2_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "sink_main_group": {
147
+ "cls": "Sink"
148
+ },
149
+ "counter_main_main_group": {
150
+ "cls": "Counter"
151
+ },
152
+ "stove_main_group": {
153
+ "cls": "Stove"
154
+ },
155
+ "counter_right_main_group": {
156
+ "cls": "Counter"
157
+ },
158
+ "fridge_main_group": {
159
+ "cls": "FridgeBottomFreezer"
160
+ },
161
+ "cab_1_main_group": {
162
+ "cls": "SingleCabinet"
163
+ },
164
+ "cab_2_main_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_main_main_group": {
168
+ "cls": "HingeCabinet"
169
+ },
170
+ "microwave_main_group": {
171
+ "cls": "Microwave"
172
+ },
173
+ "cab_micro_main_group": {
174
+ "cls": "HingeCabinet"
175
+ },
176
+ "cab_3_main_group": {
177
+ "cls": "OpenCabinet"
178
+ },
179
+ "cab_4_main_group": {
180
+ "cls": "HingeCabinet"
181
+ },
182
+ "stack_1_main_group_base": {
183
+ "cls": "Box"
184
+ },
185
+ "stack_1_main_group_1": {
186
+ "cls": "Drawer"
187
+ },
188
+ "stack_1_main_group_2": {
189
+ "cls": "Drawer"
190
+ },
191
+ "stack_1_main_group_3": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_1_main_group_4": {
195
+ "cls": "Drawer"
196
+ },
197
+ "stack_2_main_group_base": {
198
+ "cls": "Box"
199
+ },
200
+ "stack_2_main_group_1": {
201
+ "cls": "HingeCabinet"
202
+ },
203
+ "stack_2_main_group_2": {
204
+ "cls": "PanelCabinet"
205
+ },
206
+ "dishwasher_main_group": {
207
+ "cls": "Dishwasher"
208
+ },
209
+ "stack_3_main_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_3_main_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_main_group_base": {
216
+ "cls": "Box"
217
+ },
218
+ "stack_4_main_group_1": {
219
+ "cls": "SingleCabinet"
220
+ },
221
+ "stack_4_main_group_2": {
222
+ "cls": "Drawer"
223
+ },
224
+ "oil_bottle_main_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "soap_dispenser_main_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "toaster_main_group": {
231
+ "cls": "Toaster"
232
+ },
233
+ "knife_block_main_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "digital_scale_main_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "paper_towel_main_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "coffee_machine_main_group": {
243
+ "cls": "CoffeeMachine"
244
+ },
245
+ "glass_cup_main_group": {
246
+ "cls": "Accessory"
247
+ },
248
+ "glass_cup_2_main_group": {
249
+ "cls": "Accessory"
250
+ },
251
+ "glass_cup_3_main_group": {
252
+ "cls": "Accessory"
253
+ },
254
+ "oil_bottle_main_group_auxiliary_main_group": {
255
+ "cls": "Accessory"
256
+ }
257
+ },
258
+ "gen_textures": {},
259
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
260
+ "fixture_refs": {
261
+ "dishwasher": "dishwasher_main_group",
262
+ "counter": "counter_main_main_group"
263
+ },
264
+ "cam_configs": {
265
+ "robot0_agentview_center": {
266
+ "pos": [
267
+ -0.6,
268
+ 0.0,
269
+ 1.15
270
+ ],
271
+ "quat": [
272
+ 0.636945903301239,
273
+ 0.3325185477733612,
274
+ -0.3199238181114197,
275
+ -0.6175596117973328
276
+ ],
277
+ "parent_body": "mobilebase0_support"
278
+ },
279
+ "robot0_agentview_left": {
280
+ "pos": [
281
+ -0.5,
282
+ 0.35,
283
+ 1.05
284
+ ],
285
+ "quat": [
286
+ 0.55623853,
287
+ 0.29935253,
288
+ -0.37678665,
289
+ -0.6775092
290
+ ],
291
+ "camera_attribs": {
292
+ "fovy": "60"
293
+ },
294
+ "parent_body": "mobilebase0_support"
295
+ },
296
+ "robot0_agentview_right": {
297
+ "pos": [
298
+ -0.5,
299
+ -0.35,
300
+ 1.05
301
+ ],
302
+ "quat": [
303
+ 0.6775091886520386,
304
+ 0.3767866790294647,
305
+ -0.2993525564670563,
306
+ -0.55623859167099
307
+ ],
308
+ "camera_attribs": {
309
+ "fovy": "60"
310
+ },
311
+ "parent_body": "mobilebase0_support"
312
+ },
313
+ "robot0_frontview": {
314
+ "pos": [
315
+ -0.5,
316
+ 0,
317
+ 0.95
318
+ ],
319
+ "quat": [
320
+ 0.6088936924934387,
321
+ 0.3814677894115448,
322
+ -0.3673907518386841,
323
+ -0.5905545353889465
324
+ ],
325
+ "camera_attribs": {
326
+ "fovy": "60"
327
+ },
328
+ "parent_body": "mobilebase0_support"
329
+ },
330
+ "robot0_eye_in_hand": {
331
+ "pos": [
332
+ 0.05,
333
+ 0,
334
+ 0
335
+ ],
336
+ "quat": [
337
+ 0,
338
+ 0.707107,
339
+ 0.707107,
340
+ 0
341
+ ],
342
+ "parent_body": "robot0_right_hand"
343
+ }
344
+ },
345
+ "init_robot_base_pos": [
346
+ 1.4833711721666445,
347
+ -0.9085450632819748,
348
+ 0.0
349
+ ],
350
+ "init_robot_base_ori": [
351
+ 0.0,
352
+ 0.0,
353
+ 1.5707963267948966
354
+ ]
355
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000037/ep_meta.json ADDED
@@ -0,0 +1,436 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 5,
3
+ "style_id": 5,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08499978494999998,
14
+ 0.08499945004999998,
15
+ 0.08499999999999998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "receptacle",
33
+ "stackable"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.9958662898282258,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.07499999999999973,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.12999439049999995,
65
+ 0.12961336439999996,
66
+ 0.03717213369999998
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "receptacle",
84
+ "stackable",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.9958662898282258,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.07499999999999973,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "untensil_rack_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "sink_left_group": {
156
+ "cls": "Sink"
157
+ },
158
+ "counter_left_group": {
159
+ "cls": "Counter"
160
+ },
161
+ "fridge_left_group": {
162
+ "cls": "FridgeBottomFreezer"
163
+ },
164
+ "cab_1_left_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_2_left_group": {
168
+ "cls": "OpenCabinet"
169
+ },
170
+ "stack_1_left_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_left_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_left_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_left_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_left_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_left_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_left_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_left_group_2": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_2_left_group_3": {
195
+ "cls": "Drawer"
196
+ },
197
+ "dishwasher_left_group": {
198
+ "cls": "Dishwasher"
199
+ },
200
+ "stack_3_left_group_base": {
201
+ "cls": "Box"
202
+ },
203
+ "stack_3_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "stack_3_left_group_2": {
207
+ "cls": "PanelCabinet"
208
+ },
209
+ "stack_4_left_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_4_left_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_left_group_2": {
216
+ "cls": "Drawer"
217
+ },
218
+ "flower_vase_left_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "soap_dispenser_left_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "knife_block_left_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paprika_left_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "cinnamon_left_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "turmeric_left_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "glass_cup_left_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "digital_scale_left_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "paper_towel_left_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "counter_main_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stove_main_group": {
249
+ "cls": "Stove"
250
+ },
251
+ "counter_right_main_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "cab_main_main_group": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "cab_1_main_group": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "microwave_main_group": {
261
+ "cls": "Microwave"
262
+ },
263
+ "cab_micro_main_group": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cab_2_main_group": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cab_3_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_1_main_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_1_main_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_1_main_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_1_main_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_2_main_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_2_main_group_1": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_2_main_group_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_2_main_group_4": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_3_main_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_3_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_3_main_group_3": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_4_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_4_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_4_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_4_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_main_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "utensil_set_main_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "toaster_main_group": {
330
+ "cls": "Toaster"
331
+ },
332
+ "toaster_oven_main_group": {
333
+ "cls": "ToasterOven"
334
+ },
335
+ "tiered_basket_main_group": {
336
+ "cls": "Accessory"
337
+ }
338
+ },
339
+ "gen_textures": {},
340
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
341
+ "fixture_refs": {
342
+ "dishwasher": "dishwasher_left_group",
343
+ "counter": "counter_left_group"
344
+ },
345
+ "cam_configs": {
346
+ "robot0_agentview_center": {
347
+ "pos": [
348
+ -0.6,
349
+ 0.0,
350
+ 1.15
351
+ ],
352
+ "quat": [
353
+ 0.636945903301239,
354
+ 0.3325185477733612,
355
+ -0.3199238181114197,
356
+ -0.6175596117973328
357
+ ],
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_agentview_left": {
361
+ "pos": [
362
+ -0.5,
363
+ 0.35,
364
+ 1.05
365
+ ],
366
+ "quat": [
367
+ 0.55623853,
368
+ 0.29935253,
369
+ -0.37678665,
370
+ -0.6775092
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_agentview_right": {
378
+ "pos": [
379
+ -0.5,
380
+ -0.35,
381
+ 1.05
382
+ ],
383
+ "quat": [
384
+ 0.6775091886520386,
385
+ 0.3767866790294647,
386
+ -0.2993525564670563,
387
+ -0.55623859167099
388
+ ],
389
+ "camera_attribs": {
390
+ "fovy": "60"
391
+ },
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_frontview": {
395
+ "pos": [
396
+ -0.5,
397
+ 0,
398
+ 0.95
399
+ ],
400
+ "quat": [
401
+ 0.6088936924934387,
402
+ 0.3814677894115448,
403
+ -0.3673907518386841,
404
+ -0.5905545353889465
405
+ ],
406
+ "camera_attribs": {
407
+ "fovy": "60"
408
+ },
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_eye_in_hand": {
412
+ "pos": [
413
+ 0.05,
414
+ 0,
415
+ 0
416
+ ],
417
+ "quat": [
418
+ 0,
419
+ 0.707107,
420
+ 0.707107,
421
+ 0
422
+ ],
423
+ "parent_body": "robot0_right_hand"
424
+ }
425
+ },
426
+ "init_robot_base_pos": [
427
+ 0.9226728334785131,
428
+ -3.42285883720436,
429
+ 0.0
430
+ ],
431
+ "init_robot_base_ori": [
432
+ 0.0,
433
+ 0.0,
434
+ 3.1415963267948968
435
+ ]
436
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000049/ep_meta.json ADDED
@@ -0,0 +1,436 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 5,
3
+ "style_id": 5,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08499978494999998,
14
+ 0.08499945004999998,
15
+ 0.08499999999999998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "stackable",
33
+ "receptacle"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.9958662898282258,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.07499999999999973,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.12999439049999995,
65
+ 0.12961336439999996,
66
+ 0.03717213369999998
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "stackable",
84
+ "receptacle",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.9958662898282258,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.07499999999999973,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "untensil_rack_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "sink_left_group": {
156
+ "cls": "Sink"
157
+ },
158
+ "counter_left_group": {
159
+ "cls": "Counter"
160
+ },
161
+ "fridge_left_group": {
162
+ "cls": "FridgeBottomFreezer"
163
+ },
164
+ "cab_1_left_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_2_left_group": {
168
+ "cls": "OpenCabinet"
169
+ },
170
+ "stack_1_left_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_left_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_left_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_left_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_left_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_left_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_left_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_left_group_2": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_2_left_group_3": {
195
+ "cls": "Drawer"
196
+ },
197
+ "dishwasher_left_group": {
198
+ "cls": "Dishwasher"
199
+ },
200
+ "stack_3_left_group_base": {
201
+ "cls": "Box"
202
+ },
203
+ "stack_3_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "stack_3_left_group_2": {
207
+ "cls": "PanelCabinet"
208
+ },
209
+ "stack_4_left_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_4_left_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_left_group_2": {
216
+ "cls": "Drawer"
217
+ },
218
+ "flower_vase_left_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "soap_dispenser_left_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "knife_block_left_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paprika_left_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "cinnamon_left_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "turmeric_left_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "glass_cup_left_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "digital_scale_left_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "paper_towel_left_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "counter_main_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stove_main_group": {
249
+ "cls": "Stove"
250
+ },
251
+ "counter_right_main_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "cab_main_main_group": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "cab_1_main_group": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "microwave_main_group": {
261
+ "cls": "Microwave"
262
+ },
263
+ "cab_micro_main_group": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cab_2_main_group": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cab_3_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_1_main_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_1_main_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_1_main_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_1_main_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_2_main_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_2_main_group_1": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_2_main_group_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_2_main_group_4": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_3_main_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_3_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_3_main_group_3": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_4_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_4_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_4_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_4_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_main_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "utensil_set_main_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "toaster_main_group": {
330
+ "cls": "Toaster"
331
+ },
332
+ "toaster_oven_main_group": {
333
+ "cls": "ToasterOven"
334
+ },
335
+ "tiered_basket_main_group": {
336
+ "cls": "Accessory"
337
+ }
338
+ },
339
+ "gen_textures": {},
340
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
341
+ "fixture_refs": {
342
+ "dishwasher": "dishwasher_left_group",
343
+ "counter": "counter_left_group"
344
+ },
345
+ "cam_configs": {
346
+ "robot0_agentview_center": {
347
+ "pos": [
348
+ -0.6,
349
+ 0.0,
350
+ 1.15
351
+ ],
352
+ "quat": [
353
+ 0.636945903301239,
354
+ 0.3325185477733612,
355
+ -0.3199238181114197,
356
+ -0.6175596117973328
357
+ ],
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_agentview_left": {
361
+ "pos": [
362
+ -0.5,
363
+ 0.35,
364
+ 1.05
365
+ ],
366
+ "quat": [
367
+ 0.55623853,
368
+ 0.29935253,
369
+ -0.37678665,
370
+ -0.6775092
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_agentview_right": {
378
+ "pos": [
379
+ -0.5,
380
+ -0.35,
381
+ 1.05
382
+ ],
383
+ "quat": [
384
+ 0.6775091886520386,
385
+ 0.3767866790294647,
386
+ -0.2993525564670563,
387
+ -0.55623859167099
388
+ ],
389
+ "camera_attribs": {
390
+ "fovy": "60"
391
+ },
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_frontview": {
395
+ "pos": [
396
+ -0.5,
397
+ 0,
398
+ 0.95
399
+ ],
400
+ "quat": [
401
+ 0.6088936924934387,
402
+ 0.3814677894115448,
403
+ -0.3673907518386841,
404
+ -0.5905545353889465
405
+ ],
406
+ "camera_attribs": {
407
+ "fovy": "60"
408
+ },
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_eye_in_hand": {
412
+ "pos": [
413
+ 0.05,
414
+ 0,
415
+ 0
416
+ ],
417
+ "quat": [
418
+ 0,
419
+ 0.707107,
420
+ 0.707107,
421
+ 0
422
+ ],
423
+ "parent_body": "robot0_right_hand"
424
+ }
425
+ },
426
+ "init_robot_base_pos": [
427
+ 0.9010262697631308,
428
+ -3.325892644794264,
429
+ 0.0
430
+ ],
431
+ "init_robot_base_ori": [
432
+ 0.0,
433
+ 0.0,
434
+ 3.1415963267948968
435
+ ]
436
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000064/ep_meta.json ADDED
@@ -0,0 +1,436 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 5,
3
+ "style_id": 5,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08707892339999997,
14
+ 0.08707892024999996,
15
+ 0.10499999999999995
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "receptacle",
33
+ "stackable"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.9958662898282258,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.07499999999999973,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.11990635799999994,
65
+ 0.11999860559999995,
66
+ 0.049146400799999976
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "receptacle",
84
+ "stackable",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.9958662898282258,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.07499999999999973,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "untensil_rack_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "sink_left_group": {
156
+ "cls": "Sink"
157
+ },
158
+ "counter_left_group": {
159
+ "cls": "Counter"
160
+ },
161
+ "fridge_left_group": {
162
+ "cls": "FridgeBottomFreezer"
163
+ },
164
+ "cab_1_left_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_2_left_group": {
168
+ "cls": "OpenCabinet"
169
+ },
170
+ "stack_1_left_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_left_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_left_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_left_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_left_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_left_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_left_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_left_group_2": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_2_left_group_3": {
195
+ "cls": "Drawer"
196
+ },
197
+ "dishwasher_left_group": {
198
+ "cls": "Dishwasher"
199
+ },
200
+ "stack_3_left_group_base": {
201
+ "cls": "Box"
202
+ },
203
+ "stack_3_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "stack_3_left_group_2": {
207
+ "cls": "PanelCabinet"
208
+ },
209
+ "stack_4_left_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_4_left_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_left_group_2": {
216
+ "cls": "Drawer"
217
+ },
218
+ "flower_vase_left_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "soap_dispenser_left_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "knife_block_left_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paprika_left_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "cinnamon_left_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "turmeric_left_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "glass_cup_left_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "digital_scale_left_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "paper_towel_left_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "counter_main_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stove_main_group": {
249
+ "cls": "Stove"
250
+ },
251
+ "counter_right_main_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "cab_main_main_group": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "cab_1_main_group": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "microwave_main_group": {
261
+ "cls": "Microwave"
262
+ },
263
+ "cab_micro_main_group": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cab_2_main_group": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cab_3_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_1_main_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_1_main_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_1_main_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_1_main_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_2_main_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_2_main_group_1": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_2_main_group_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_2_main_group_4": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_3_main_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_3_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_3_main_group_3": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_4_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_4_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_4_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_4_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_main_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "utensil_set_main_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "toaster_main_group": {
330
+ "cls": "Toaster"
331
+ },
332
+ "toaster_oven_main_group": {
333
+ "cls": "ToasterOven"
334
+ },
335
+ "tiered_basket_main_group": {
336
+ "cls": "Accessory"
337
+ }
338
+ },
339
+ "gen_textures": {},
340
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
341
+ "fixture_refs": {
342
+ "dishwasher": "dishwasher_left_group",
343
+ "counter": "counter_left_group"
344
+ },
345
+ "cam_configs": {
346
+ "robot0_agentview_center": {
347
+ "pos": [
348
+ -0.6,
349
+ 0.0,
350
+ 1.15
351
+ ],
352
+ "quat": [
353
+ 0.636945903301239,
354
+ 0.3325185477733612,
355
+ -0.3199238181114197,
356
+ -0.6175596117973328
357
+ ],
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_agentview_left": {
361
+ "pos": [
362
+ -0.5,
363
+ 0.35,
364
+ 1.05
365
+ ],
366
+ "quat": [
367
+ 0.55623853,
368
+ 0.29935253,
369
+ -0.37678665,
370
+ -0.6775092
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_agentview_right": {
378
+ "pos": [
379
+ -0.5,
380
+ -0.35,
381
+ 1.05
382
+ ],
383
+ "quat": [
384
+ 0.6775091886520386,
385
+ 0.3767866790294647,
386
+ -0.2993525564670563,
387
+ -0.55623859167099
388
+ ],
389
+ "camera_attribs": {
390
+ "fovy": "60"
391
+ },
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_frontview": {
395
+ "pos": [
396
+ -0.5,
397
+ 0,
398
+ 0.95
399
+ ],
400
+ "quat": [
401
+ 0.6088936924934387,
402
+ 0.3814677894115448,
403
+ -0.3673907518386841,
404
+ -0.5905545353889465
405
+ ],
406
+ "camera_attribs": {
407
+ "fovy": "60"
408
+ },
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_eye_in_hand": {
412
+ "pos": [
413
+ 0.05,
414
+ 0,
415
+ 0
416
+ ],
417
+ "quat": [
418
+ 0,
419
+ 0.707107,
420
+ 0.707107,
421
+ 0
422
+ ],
423
+ "parent_body": "robot0_right_hand"
424
+ }
425
+ },
426
+ "init_robot_base_pos": [
427
+ 0.9976648488749831,
428
+ -3.435379450448183,
429
+ 0.0
430
+ ],
431
+ "init_robot_base_ori": [
432
+ 0.0,
433
+ 0.0,
434
+ 3.1415963267948968
435
+ ]
436
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000079/ep_meta.json ADDED
@@ -0,0 +1,535 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_right_group",
12
+ "min_size": [
13
+ 0.08707892339999997,
14
+ 0.08707892024999996,
15
+ 0.10499999999999995
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "stackable",
33
+ "receptacle"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.8830045331087513,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ -0.32999999999999985,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_1_right_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_right_group",
63
+ "min_size": [
64
+ 0.12999703989999994,
65
+ 0.12999646659999994,
66
+ 0.043022952699999985
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "stackable",
84
+ "receptacle",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.8830045331087513,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ -0.32999999999999985,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_front_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_front_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_left_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_left_2_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_2_left_backing_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_right_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_right_backing_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "utensil_rack_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "outlet_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "outlet_2_room": {
147
+ "cls": "WallAccessory"
148
+ },
149
+ "outlet_3_room": {
150
+ "cls": "WallAccessory"
151
+ },
152
+ "light_switch_room": {
153
+ "cls": "WallAccessory"
154
+ },
155
+ "light_switch_2_room": {
156
+ "cls": "WallAccessory"
157
+ },
158
+ "window_group_room": {
159
+ "cls": "Window"
160
+ },
161
+ "floor_room": {
162
+ "cls": "Floor"
163
+ },
164
+ "floor_backing_room": {
165
+ "cls": "Floor"
166
+ },
167
+ "floor_front_room": {
168
+ "cls": "Floor"
169
+ },
170
+ "floor_front_backing_room": {
171
+ "cls": "Floor"
172
+ },
173
+ "stool_1_room": {
174
+ "cls": "Stool"
175
+ },
176
+ "stool_2_room": {
177
+ "cls": "Stool"
178
+ },
179
+ "stool_3_room": {
180
+ "cls": "Stool"
181
+ },
182
+ "counter_corner_1_main_group": {
183
+ "cls": "Counter"
184
+ },
185
+ "counter_main_main_group": {
186
+ "cls": "Counter"
187
+ },
188
+ "stove_main_group": {
189
+ "cls": "Stove"
190
+ },
191
+ "counter_1_main_group": {
192
+ "cls": "Counter"
193
+ },
194
+ "counter_corner_2_main_group": {
195
+ "cls": "Counter"
196
+ },
197
+ "cab_corner_main_group": {
198
+ "cls": "Box"
199
+ },
200
+ "cab_main_main_group": {
201
+ "cls": "HingeCabinet"
202
+ },
203
+ "cab_1_main_group": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "hood_main_group": {
207
+ "cls": "Hood"
208
+ },
209
+ "shelves_main_group": {
210
+ "cls": "OpenCabinet"
211
+ },
212
+ "cab_corner_3_main_group": {
213
+ "cls": "Box"
214
+ },
215
+ "cab_corner_4_main_group": {
216
+ "cls": "Box"
217
+ },
218
+ "stack_1_main_group_base": {
219
+ "cls": "Box"
220
+ },
221
+ "stack_1_main_group_1": {
222
+ "cls": "HingeCabinet"
223
+ },
224
+ "stack_1_main_group_2": {
225
+ "cls": "Drawer"
226
+ },
227
+ "stack_1_main_group_3": {
228
+ "cls": "Drawer"
229
+ },
230
+ "stack_2_main_group_base": {
231
+ "cls": "Box"
232
+ },
233
+ "stack_2_main_group_1": {
234
+ "cls": "HingeCabinet"
235
+ },
236
+ "stack_2_main_group_2": {
237
+ "cls": "Drawer"
238
+ },
239
+ "stack_2_main_group_3": {
240
+ "cls": "Drawer"
241
+ },
242
+ "right_corner_box_main_group": {
243
+ "cls": "Box"
244
+ },
245
+ "stack_3_main_group_base": {
246
+ "cls": "Box"
247
+ },
248
+ "stack_3_main_group_1": {
249
+ "cls": "HingeCabinet"
250
+ },
251
+ "stack_3_main_group_2": {
252
+ "cls": "Drawer"
253
+ },
254
+ "stack_3_main_group_3": {
255
+ "cls": "Drawer"
256
+ },
257
+ "stack_4_main_group_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_4_main_group_1": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_4_main_group_2": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_4_main_group_3": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_4_main_group_4": {
270
+ "cls": "Drawer"
271
+ },
272
+ "coffee_machine_main_group": {
273
+ "cls": "CoffeeMachine"
274
+ },
275
+ "knife_block_main_group": {
276
+ "cls": "Accessory"
277
+ },
278
+ "plant_main_group": {
279
+ "cls": "Accessory"
280
+ },
281
+ "toaster_main_group": {
282
+ "cls": "Toaster"
283
+ },
284
+ "toaster_oven_main_group": {
285
+ "cls": "ToasterOven"
286
+ },
287
+ "tiered_basket_main_group": {
288
+ "cls": "Accessory"
289
+ },
290
+ "jar_main_group": {
291
+ "cls": "Accessory"
292
+ },
293
+ "paprika_main_group": {
294
+ "cls": "Accessory"
295
+ },
296
+ "cinnamon_main_group": {
297
+ "cls": "Accessory"
298
+ },
299
+ "turmeric_main_group": {
300
+ "cls": "Accessory"
301
+ },
302
+ "salt_shaker_main_group": {
303
+ "cls": "Accessory"
304
+ },
305
+ "jar_main_group_auxiliary_main_group": {
306
+ "cls": "Accessory"
307
+ },
308
+ "salt_shaker_main_group_auxiliary_main_group": {
309
+ "cls": "Accessory"
310
+ },
311
+ "fridge_left_group": {
312
+ "cls": "FridgeFrenchDoor"
313
+ },
314
+ "fridge_housing_left_group": {
315
+ "cls": "HousingCabinet"
316
+ },
317
+ "fridge_top_left_group": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "stack_left_left_group_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_left_left_group_1": {
324
+ "cls": "SingleCabinet"
325
+ },
326
+ "stack_left_left_group_2": {
327
+ "cls": "SingleCabinet"
328
+ },
329
+ "stack_right_left_group_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_right_left_group_1": {
333
+ "cls": "SingleCabinet"
334
+ },
335
+ "stack_right_left_group_2": {
336
+ "cls": "SingleCabinet"
337
+ },
338
+ "box_left_top_left_group": {
339
+ "cls": "Box"
340
+ },
341
+ "box_left_bottom_left_group": {
342
+ "cls": "Box"
343
+ },
344
+ "box_right_top_left_group": {
345
+ "cls": "Box"
346
+ },
347
+ "box_right_bottom_left_group": {
348
+ "cls": "Box"
349
+ },
350
+ "sink_right_group": {
351
+ "cls": "Sink"
352
+ },
353
+ "counter_1_right_group": {
354
+ "cls": "Counter"
355
+ },
356
+ "counter_corner_right_group": {
357
+ "cls": "Counter"
358
+ },
359
+ "stack_1_right_group_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_1_right_group_1": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "stack_1_right_group_2": {
366
+ "cls": "PanelCabinet"
367
+ },
368
+ "dishwasher_right_group": {
369
+ "cls": "Dishwasher"
370
+ },
371
+ "stack_2_right_group_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_2_right_group_1": {
375
+ "cls": "SingleCabinet"
376
+ },
377
+ "cab_1_right_group": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "cab_2_right_group": {
381
+ "cls": "SingleCabinet"
382
+ },
383
+ "soap_dispenser_right_group": {
384
+ "cls": "Accessory"
385
+ },
386
+ "counter_corner_1_front_group": {
387
+ "cls": "Counter"
388
+ },
389
+ "counter_1_front_group": {
390
+ "cls": "Counter"
391
+ },
392
+ "stack_1_front_group_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_1_front_group_1": {
396
+ "cls": "HingeCabinet"
397
+ },
398
+ "stack_1_front_group_2": {
399
+ "cls": "Drawer"
400
+ },
401
+ "shelves_front_group": {
402
+ "cls": "OpenCabinet"
403
+ },
404
+ "bottom_front_group_base": {
405
+ "cls": "Box"
406
+ },
407
+ "bottom_front_group_1": {
408
+ "cls": "Drawer"
409
+ },
410
+ "bottom_front_group_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "cab_middle_front_group": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "microwave_front_group": {
417
+ "cls": "Microwave"
418
+ },
419
+ "micro_housing_front_group": {
420
+ "cls": "HousingCabinet"
421
+ },
422
+ "top_front_group": {
423
+ "cls": "HingeCabinet"
424
+ },
425
+ "utensil_set_front_group": {
426
+ "cls": "Accessory"
427
+ },
428
+ "counter_1_dining_area_group": {
429
+ "cls": "Counter"
430
+ },
431
+ "paper_towel_dining_area_group": {
432
+ "cls": "Accessory"
433
+ },
434
+ "fruit_bowl_dining_area_group": {
435
+ "cls": "Accessory"
436
+ }
437
+ },
438
+ "gen_textures": {},
439
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
440
+ "fixture_refs": {
441
+ "dishwasher": "dishwasher_right_group",
442
+ "counter": "counter_1_right_group"
443
+ },
444
+ "cam_configs": {
445
+ "robot0_agentview_center": {
446
+ "pos": [
447
+ -0.6,
448
+ 0.0,
449
+ 1.15
450
+ ],
451
+ "quat": [
452
+ 0.636945903301239,
453
+ 0.3325185477733612,
454
+ -0.3199238181114197,
455
+ -0.6175596117973328
456
+ ],
457
+ "parent_body": "mobilebase0_support"
458
+ },
459
+ "robot0_agentview_left": {
460
+ "pos": [
461
+ -0.5,
462
+ 0.35,
463
+ 1.05
464
+ ],
465
+ "quat": [
466
+ 0.55623853,
467
+ 0.29935253,
468
+ -0.37678665,
469
+ -0.6775092
470
+ ],
471
+ "camera_attribs": {
472
+ "fovy": "60"
473
+ },
474
+ "parent_body": "mobilebase0_support"
475
+ },
476
+ "robot0_agentview_right": {
477
+ "pos": [
478
+ -0.5,
479
+ -0.35,
480
+ 1.05
481
+ ],
482
+ "quat": [
483
+ 0.6775091886520386,
484
+ 0.3767866790294647,
485
+ -0.2993525564670563,
486
+ -0.55623859167099
487
+ ],
488
+ "camera_attribs": {
489
+ "fovy": "60"
490
+ },
491
+ "parent_body": "mobilebase0_support"
492
+ },
493
+ "robot0_frontview": {
494
+ "pos": [
495
+ -0.5,
496
+ 0,
497
+ 0.95
498
+ ],
499
+ "quat": [
500
+ 0.6088936924934387,
501
+ 0.3814677894115448,
502
+ -0.3673907518386841,
503
+ -0.5905545353889465
504
+ ],
505
+ "camera_attribs": {
506
+ "fovy": "60"
507
+ },
508
+ "parent_body": "mobilebase0_support"
509
+ },
510
+ "robot0_eye_in_hand": {
511
+ "pos": [
512
+ 0.05,
513
+ 0,
514
+ 0
515
+ ],
516
+ "quat": [
517
+ 0,
518
+ 0.707107,
519
+ 0.707107,
520
+ 0
521
+ ],
522
+ "parent_body": "robot0_right_hand"
523
+ }
524
+ },
525
+ "init_robot_base_pos": [
526
+ 4.9353538696902595,
527
+ -2.031686964676087,
528
+ 0.0
529
+ ],
530
+ "init_robot_base_ori": [
531
+ 0.0,
532
+ 0.0,
533
+ -3.673205103416066e-06
534
+ ]
535
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000259/ep_meta.json ADDED
@@ -0,0 +1,436 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 5,
3
+ "style_id": 5,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08499978494999998,
14
+ 0.08499945004999998,
15
+ 0.08499999999999998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "receptacle",
33
+ "stackable"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.9958662898282258,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.07499999999999973,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.12999439049999995,
65
+ 0.12961336439999996,
66
+ 0.03717213369999998
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "receptacle",
84
+ "stackable",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.9958662898282258,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.07499999999999973,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "untensil_rack_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "sink_left_group": {
156
+ "cls": "Sink"
157
+ },
158
+ "counter_left_group": {
159
+ "cls": "Counter"
160
+ },
161
+ "fridge_left_group": {
162
+ "cls": "FridgeBottomFreezer"
163
+ },
164
+ "cab_1_left_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_2_left_group": {
168
+ "cls": "OpenCabinet"
169
+ },
170
+ "stack_1_left_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_left_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_left_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_left_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_left_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_left_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_left_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_left_group_2": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_2_left_group_3": {
195
+ "cls": "Drawer"
196
+ },
197
+ "dishwasher_left_group": {
198
+ "cls": "Dishwasher"
199
+ },
200
+ "stack_3_left_group_base": {
201
+ "cls": "Box"
202
+ },
203
+ "stack_3_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "stack_3_left_group_2": {
207
+ "cls": "PanelCabinet"
208
+ },
209
+ "stack_4_left_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_4_left_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_left_group_2": {
216
+ "cls": "Drawer"
217
+ },
218
+ "flower_vase_left_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "soap_dispenser_left_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "knife_block_left_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paprika_left_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "cinnamon_left_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "turmeric_left_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "glass_cup_left_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "digital_scale_left_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "paper_towel_left_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "counter_main_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stove_main_group": {
249
+ "cls": "Stove"
250
+ },
251
+ "counter_right_main_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "cab_main_main_group": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "cab_1_main_group": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "microwave_main_group": {
261
+ "cls": "Microwave"
262
+ },
263
+ "cab_micro_main_group": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cab_2_main_group": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cab_3_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_1_main_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_1_main_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_1_main_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_1_main_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_2_main_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_2_main_group_1": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_2_main_group_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_2_main_group_4": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_3_main_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_3_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_3_main_group_3": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_4_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_4_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_4_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_4_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_main_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "utensil_set_main_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "toaster_main_group": {
330
+ "cls": "Toaster"
331
+ },
332
+ "toaster_oven_main_group": {
333
+ "cls": "ToasterOven"
334
+ },
335
+ "tiered_basket_main_group": {
336
+ "cls": "Accessory"
337
+ }
338
+ },
339
+ "gen_textures": {},
340
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
341
+ "fixture_refs": {
342
+ "dishwasher": "dishwasher_left_group",
343
+ "counter": "counter_left_group"
344
+ },
345
+ "cam_configs": {
346
+ "robot0_agentview_center": {
347
+ "pos": [
348
+ -0.6,
349
+ 0.0,
350
+ 1.15
351
+ ],
352
+ "quat": [
353
+ 0.636945903301239,
354
+ 0.3325185477733612,
355
+ -0.3199238181114197,
356
+ -0.6175596117973328
357
+ ],
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_agentview_left": {
361
+ "pos": [
362
+ -0.5,
363
+ 0.35,
364
+ 1.05
365
+ ],
366
+ "quat": [
367
+ 0.55623853,
368
+ 0.29935253,
369
+ -0.37678665,
370
+ -0.6775092
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_agentview_right": {
378
+ "pos": [
379
+ -0.5,
380
+ -0.35,
381
+ 1.05
382
+ ],
383
+ "quat": [
384
+ 0.6775091886520386,
385
+ 0.3767866790294647,
386
+ -0.2993525564670563,
387
+ -0.55623859167099
388
+ ],
389
+ "camera_attribs": {
390
+ "fovy": "60"
391
+ },
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_frontview": {
395
+ "pos": [
396
+ -0.5,
397
+ 0,
398
+ 0.95
399
+ ],
400
+ "quat": [
401
+ 0.6088936924934387,
402
+ 0.3814677894115448,
403
+ -0.3673907518386841,
404
+ -0.5905545353889465
405
+ ],
406
+ "camera_attribs": {
407
+ "fovy": "60"
408
+ },
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_eye_in_hand": {
412
+ "pos": [
413
+ 0.05,
414
+ 0,
415
+ 0
416
+ ],
417
+ "quat": [
418
+ 0,
419
+ 0.707107,
420
+ 0.707107,
421
+ 0
422
+ ],
423
+ "parent_body": "robot0_right_hand"
424
+ }
425
+ },
426
+ "init_robot_base_pos": [
427
+ 0.9403930270073807,
428
+ -2.038775964044762,
429
+ 0.0
430
+ ],
431
+ "init_robot_base_ori": [
432
+ 0.0,
433
+ 0.0,
434
+ 3.1415963267948968
435
+ ]
436
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000272/ep_meta.json ADDED
@@ -0,0 +1,436 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 5,
3
+ "style_id": 5,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08707892339999997,
14
+ 0.08707892024999996,
15
+ 0.10499999999999995
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "stackable",
33
+ "receptacle"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.9958662898282258,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.07499999999999973,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.11990635799999994,
65
+ 0.11999860559999995,
66
+ 0.049146400799999976
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "stackable",
84
+ "receptacle",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.9958662898282258,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.07499999999999973,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "untensil_rack_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "sink_left_group": {
156
+ "cls": "Sink"
157
+ },
158
+ "counter_left_group": {
159
+ "cls": "Counter"
160
+ },
161
+ "fridge_left_group": {
162
+ "cls": "FridgeBottomFreezer"
163
+ },
164
+ "cab_1_left_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_2_left_group": {
168
+ "cls": "OpenCabinet"
169
+ },
170
+ "stack_1_left_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_left_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_left_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_left_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_left_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_left_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_left_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_left_group_2": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_2_left_group_3": {
195
+ "cls": "Drawer"
196
+ },
197
+ "dishwasher_left_group": {
198
+ "cls": "Dishwasher"
199
+ },
200
+ "stack_3_left_group_base": {
201
+ "cls": "Box"
202
+ },
203
+ "stack_3_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "stack_3_left_group_2": {
207
+ "cls": "PanelCabinet"
208
+ },
209
+ "stack_4_left_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_4_left_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_left_group_2": {
216
+ "cls": "Drawer"
217
+ },
218
+ "flower_vase_left_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "soap_dispenser_left_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "knife_block_left_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paprika_left_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "cinnamon_left_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "turmeric_left_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "glass_cup_left_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "digital_scale_left_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "paper_towel_left_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "counter_main_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stove_main_group": {
249
+ "cls": "Stove"
250
+ },
251
+ "counter_right_main_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "cab_main_main_group": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "cab_1_main_group": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "microwave_main_group": {
261
+ "cls": "Microwave"
262
+ },
263
+ "cab_micro_main_group": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cab_2_main_group": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cab_3_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_1_main_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_1_main_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_1_main_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_1_main_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_2_main_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_2_main_group_1": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_2_main_group_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_2_main_group_4": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_3_main_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_3_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_3_main_group_3": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_4_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_4_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_4_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_4_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_main_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "utensil_set_main_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "toaster_main_group": {
330
+ "cls": "Toaster"
331
+ },
332
+ "toaster_oven_main_group": {
333
+ "cls": "ToasterOven"
334
+ },
335
+ "tiered_basket_main_group": {
336
+ "cls": "Accessory"
337
+ }
338
+ },
339
+ "gen_textures": {},
340
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
341
+ "fixture_refs": {
342
+ "dishwasher": "dishwasher_left_group",
343
+ "counter": "counter_left_group"
344
+ },
345
+ "cam_configs": {
346
+ "robot0_agentview_center": {
347
+ "pos": [
348
+ -0.6,
349
+ 0.0,
350
+ 1.15
351
+ ],
352
+ "quat": [
353
+ 0.636945903301239,
354
+ 0.3325185477733612,
355
+ -0.3199238181114197,
356
+ -0.6175596117973328
357
+ ],
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_agentview_left": {
361
+ "pos": [
362
+ -0.5,
363
+ 0.35,
364
+ 1.05
365
+ ],
366
+ "quat": [
367
+ 0.55623853,
368
+ 0.29935253,
369
+ -0.37678665,
370
+ -0.6775092
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_agentview_right": {
378
+ "pos": [
379
+ -0.5,
380
+ -0.35,
381
+ 1.05
382
+ ],
383
+ "quat": [
384
+ 0.6775091886520386,
385
+ 0.3767866790294647,
386
+ -0.2993525564670563,
387
+ -0.55623859167099
388
+ ],
389
+ "camera_attribs": {
390
+ "fovy": "60"
391
+ },
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_frontview": {
395
+ "pos": [
396
+ -0.5,
397
+ 0,
398
+ 0.95
399
+ ],
400
+ "quat": [
401
+ 0.6088936924934387,
402
+ 0.3814677894115448,
403
+ -0.3673907518386841,
404
+ -0.5905545353889465
405
+ ],
406
+ "camera_attribs": {
407
+ "fovy": "60"
408
+ },
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_eye_in_hand": {
412
+ "pos": [
413
+ 0.05,
414
+ 0,
415
+ 0
416
+ ],
417
+ "quat": [
418
+ 0,
419
+ 0.707107,
420
+ 0.707107,
421
+ 0
422
+ ],
423
+ "parent_body": "robot0_right_hand"
424
+ }
425
+ },
426
+ "init_robot_base_pos": [
427
+ 0.9604309418008983,
428
+ -2.162186027664735,
429
+ 0.0
430
+ ],
431
+ "init_robot_base_ori": [
432
+ 0.0,
433
+ 0.0,
434
+ 3.1415963267948968
435
+ ]
436
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000296/ep_meta.json ADDED
@@ -0,0 +1,436 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 5,
3
+ "style_id": 5,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08499978494999998,
14
+ 0.08499945004999998,
15
+ 0.08499999999999998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "receptacle",
33
+ "stackable"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.9958662898282258,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.07499999999999973,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.11999818679999995,
65
+ 0.11999429999999994,
66
+ 0.049354819199999976
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "receptacle",
84
+ "stackable",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.9958662898282258,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.07499999999999973,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "untensil_rack_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "sink_left_group": {
156
+ "cls": "Sink"
157
+ },
158
+ "counter_left_group": {
159
+ "cls": "Counter"
160
+ },
161
+ "fridge_left_group": {
162
+ "cls": "FridgeBottomFreezer"
163
+ },
164
+ "cab_1_left_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_2_left_group": {
168
+ "cls": "OpenCabinet"
169
+ },
170
+ "stack_1_left_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_left_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_left_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_left_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_left_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_left_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_left_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_left_group_2": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_2_left_group_3": {
195
+ "cls": "Drawer"
196
+ },
197
+ "dishwasher_left_group": {
198
+ "cls": "Dishwasher"
199
+ },
200
+ "stack_3_left_group_base": {
201
+ "cls": "Box"
202
+ },
203
+ "stack_3_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "stack_3_left_group_2": {
207
+ "cls": "PanelCabinet"
208
+ },
209
+ "stack_4_left_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_4_left_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_left_group_2": {
216
+ "cls": "Drawer"
217
+ },
218
+ "flower_vase_left_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "soap_dispenser_left_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "knife_block_left_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paprika_left_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "cinnamon_left_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "turmeric_left_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "glass_cup_left_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "digital_scale_left_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "paper_towel_left_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "counter_main_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stove_main_group": {
249
+ "cls": "Stove"
250
+ },
251
+ "counter_right_main_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "cab_main_main_group": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "cab_1_main_group": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "microwave_main_group": {
261
+ "cls": "Microwave"
262
+ },
263
+ "cab_micro_main_group": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cab_2_main_group": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cab_3_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_1_main_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_1_main_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_1_main_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_1_main_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_2_main_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_2_main_group_1": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_2_main_group_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_2_main_group_4": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_3_main_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_3_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_3_main_group_3": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_4_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_4_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_4_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_4_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_main_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "utensil_set_main_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "toaster_main_group": {
330
+ "cls": "Toaster"
331
+ },
332
+ "toaster_oven_main_group": {
333
+ "cls": "ToasterOven"
334
+ },
335
+ "tiered_basket_main_group": {
336
+ "cls": "Accessory"
337
+ }
338
+ },
339
+ "gen_textures": {},
340
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
341
+ "fixture_refs": {
342
+ "dishwasher": "dishwasher_left_group",
343
+ "counter": "counter_left_group"
344
+ },
345
+ "cam_configs": {
346
+ "robot0_agentview_center": {
347
+ "pos": [
348
+ -0.6,
349
+ 0.0,
350
+ 1.15
351
+ ],
352
+ "quat": [
353
+ 0.636945903301239,
354
+ 0.3325185477733612,
355
+ -0.3199238181114197,
356
+ -0.6175596117973328
357
+ ],
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_agentview_left": {
361
+ "pos": [
362
+ -0.5,
363
+ 0.35,
364
+ 1.05
365
+ ],
366
+ "quat": [
367
+ 0.55623853,
368
+ 0.29935253,
369
+ -0.37678665,
370
+ -0.6775092
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_agentview_right": {
378
+ "pos": [
379
+ -0.5,
380
+ -0.35,
381
+ 1.05
382
+ ],
383
+ "quat": [
384
+ 0.6775091886520386,
385
+ 0.3767866790294647,
386
+ -0.2993525564670563,
387
+ -0.55623859167099
388
+ ],
389
+ "camera_attribs": {
390
+ "fovy": "60"
391
+ },
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_frontview": {
395
+ "pos": [
396
+ -0.5,
397
+ 0,
398
+ 0.95
399
+ ],
400
+ "quat": [
401
+ 0.6088936924934387,
402
+ 0.3814677894115448,
403
+ -0.3673907518386841,
404
+ -0.5905545353889465
405
+ ],
406
+ "camera_attribs": {
407
+ "fovy": "60"
408
+ },
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_eye_in_hand": {
412
+ "pos": [
413
+ 0.05,
414
+ 0,
415
+ 0
416
+ ],
417
+ "quat": [
418
+ 0,
419
+ 0.707107,
420
+ 0.707107,
421
+ 0
422
+ ],
423
+ "parent_body": "robot0_right_hand"
424
+ }
425
+ },
426
+ "init_robot_base_pos": [
427
+ 0.9880320634564308,
428
+ -2.276842606896593,
429
+ 0.0
430
+ ],
431
+ "init_robot_base_ori": [
432
+ 0.0,
433
+ 0.0,
434
+ 3.1415963267948968
435
+ ]
436
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000306/ep_meta.json ADDED
@@ -0,0 +1,460 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 6,
3
+ "style_id": 6,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_main_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_main_group",
12
+ "min_size": [
13
+ 0.08707892339999997,
14
+ 0.08707892024999996,
15
+ 0.10499999999999995
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "receptacle",
33
+ "stackable"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.7841409581031384,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.32500000758968506,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_main_main_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_main_group",
63
+ "min_size": [
64
+ 0.12999703989999994,
65
+ 0.12999646659999994,
66
+ 0.043022952699999985
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "receptacle",
84
+ "stackable",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.7841409581031384,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.32500000758968506,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "light_switch_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_2_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "utensil_rack_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "cab_main_main_group": {
156
+ "cls": "HingeCabinet"
157
+ },
158
+ "cab_corner_main_group": {
159
+ "cls": "Box"
160
+ },
161
+ "cab_corner_2_main_group": {
162
+ "cls": "Box"
163
+ },
164
+ "counter_corner_left_main_group": {
165
+ "cls": "Counter"
166
+ },
167
+ "sink_main_group": {
168
+ "cls": "Sink"
169
+ },
170
+ "counter_main_main_group": {
171
+ "cls": "Counter"
172
+ },
173
+ "counter_corner_right_main_group": {
174
+ "cls": "Counter"
175
+ },
176
+ "stack_1_main_group_base": {
177
+ "cls": "Box"
178
+ },
179
+ "stack_1_main_group_1": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_main_group_2": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_1_main_group_3": {
186
+ "cls": "Drawer"
187
+ },
188
+ "stack_1_main_group_4": {
189
+ "cls": "Drawer"
190
+ },
191
+ "stack_2_main_group_base": {
192
+ "cls": "Box"
193
+ },
194
+ "stack_2_main_group_1": {
195
+ "cls": "HingeCabinet"
196
+ },
197
+ "stack_2_main_group_2": {
198
+ "cls": "PanelCabinet"
199
+ },
200
+ "dishwasher_main_group": {
201
+ "cls": "Dishwasher"
202
+ },
203
+ "stack_3_main_group_base": {
204
+ "cls": "Box"
205
+ },
206
+ "stack_3_main_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "stack_3_main_group_2": {
210
+ "cls": "Drawer"
211
+ },
212
+ "stack_3_main_group_3": {
213
+ "cls": "Drawer"
214
+ },
215
+ "toaster_oven_main_group": {
216
+ "cls": "ToasterOven"
217
+ },
218
+ "knife_block_main_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "utensil_set_main_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "tiered_basket_main_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paper_towel_main_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "soap_dispenser_main_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "counter_1_right_group": {
234
+ "cls": "Counter"
235
+ },
236
+ "stove_right_group": {
237
+ "cls": "Stove"
238
+ },
239
+ "counter_2_right_group": {
240
+ "cls": "Counter"
241
+ },
242
+ "fridge_right_group": {
243
+ "cls": "FridgeFrenchDoor"
244
+ },
245
+ "fridge_housing_right_group": {
246
+ "cls": "HousingCabinet"
247
+ },
248
+ "counter_corner_right_group": {
249
+ "cls": "Counter"
250
+ },
251
+ "stack_1_right_group_base": {
252
+ "cls": "Box"
253
+ },
254
+ "stack_1_right_group_1": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "stack_1_right_group_2": {
258
+ "cls": "Drawer"
259
+ },
260
+ "stack_2_right_group_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_2_right_group_1": {
264
+ "cls": "SingleCabinet"
265
+ },
266
+ "stack_2_right_group_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "cab_1_right_group": {
270
+ "cls": "SingleCabinet"
271
+ },
272
+ "microwave_right_group": {
273
+ "cls": "Microwave"
274
+ },
275
+ "cab_micro_right_group": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "cab_2_right_group": {
279
+ "cls": "SingleCabinet"
280
+ },
281
+ "cab_3_right_group": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "toaster_right_group": {
285
+ "cls": "Toaster"
286
+ },
287
+ "counter_1_left_group": {
288
+ "cls": "Counter"
289
+ },
290
+ "counter_corner_left_group": {
291
+ "cls": "Counter"
292
+ },
293
+ "stack_1_left_group_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_1_left_group_1": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_1_left_group_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_1_left_group_3": {
303
+ "cls": "Drawer"
304
+ },
305
+ "stack_1_left_group_4": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_2_left_group_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_2_left_group_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "stack_2_left_group_2": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_2_left_group_3": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_3_left_group_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_3_left_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "stack_3_left_group_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "cab_1_left_group": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "shelves_left_group": {
333
+ "cls": "OpenCabinet"
334
+ },
335
+ "coffee_machine_left_group": {
336
+ "cls": "CoffeeMachine"
337
+ },
338
+ "plant_left_group": {
339
+ "cls": "Accessory"
340
+ },
341
+ "oil_bottle_left_group": {
342
+ "cls": "Accessory"
343
+ },
344
+ "salt_shaker_left_group": {
345
+ "cls": "Accessory"
346
+ },
347
+ "paprika_left_group": {
348
+ "cls": "Accessory"
349
+ },
350
+ "cinnamon_left_group": {
351
+ "cls": "Accessory"
352
+ },
353
+ "turmeric_left_group": {
354
+ "cls": "Accessory"
355
+ },
356
+ "oil_bottle_left_group_auxiliary_left_group": {
357
+ "cls": "Accessory"
358
+ },
359
+ "salt_shaker_left_group_auxiliary_left_group": {
360
+ "cls": "Accessory"
361
+ }
362
+ },
363
+ "gen_textures": {},
364
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
365
+ "fixture_refs": {
366
+ "dishwasher": "dishwasher_main_group",
367
+ "counter": "counter_main_main_group"
368
+ },
369
+ "cam_configs": {
370
+ "robot0_agentview_center": {
371
+ "pos": [
372
+ -0.6,
373
+ 0.0,
374
+ 1.15
375
+ ],
376
+ "quat": [
377
+ 0.636945903301239,
378
+ 0.3325185477733612,
379
+ -0.3199238181114197,
380
+ -0.6175596117973328
381
+ ],
382
+ "parent_body": "mobilebase0_support"
383
+ },
384
+ "robot0_agentview_left": {
385
+ "pos": [
386
+ -0.5,
387
+ 0.35,
388
+ 1.05
389
+ ],
390
+ "quat": [
391
+ 0.55623853,
392
+ 0.29935253,
393
+ -0.37678665,
394
+ -0.6775092
395
+ ],
396
+ "camera_attribs": {
397
+ "fovy": "60"
398
+ },
399
+ "parent_body": "mobilebase0_support"
400
+ },
401
+ "robot0_agentview_right": {
402
+ "pos": [
403
+ -0.5,
404
+ -0.35,
405
+ 1.05
406
+ ],
407
+ "quat": [
408
+ 0.6775091886520386,
409
+ 0.3767866790294647,
410
+ -0.2993525564670563,
411
+ -0.55623859167099
412
+ ],
413
+ "camera_attribs": {
414
+ "fovy": "60"
415
+ },
416
+ "parent_body": "mobilebase0_support"
417
+ },
418
+ "robot0_frontview": {
419
+ "pos": [
420
+ -0.5,
421
+ 0,
422
+ 0.95
423
+ ],
424
+ "quat": [
425
+ 0.6088936924934387,
426
+ 0.3814677894115448,
427
+ -0.3673907518386841,
428
+ -0.5905545353889465
429
+ ],
430
+ "camera_attribs": {
431
+ "fovy": "60"
432
+ },
433
+ "parent_body": "mobilebase0_support"
434
+ },
435
+ "robot0_eye_in_hand": {
436
+ "pos": [
437
+ 0.05,
438
+ 0,
439
+ 0
440
+ ],
441
+ "quat": [
442
+ 0,
443
+ 0.707107,
444
+ 0.707107,
445
+ 0
446
+ ],
447
+ "parent_body": "robot0_right_hand"
448
+ }
449
+ },
450
+ "init_robot_base_pos": [
451
+ 1.8470538563524994,
452
+ -0.983152740830924,
453
+ 0.0
454
+ ],
455
+ "init_robot_base_ori": [
456
+ 0.0,
457
+ 0.0,
458
+ 1.5707963267948966
459
+ ]
460
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000311/ep_meta.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 4,
3
+ "style_id": 4,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_1_left_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08499978494999998,
14
+ 0.08499945004999998,
15
+ 0.08499999999999998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "receptacle",
33
+ "stackable"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.6800000000000006,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ -0.8250000000000002,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_1_left_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.11499973549999994,
65
+ 0.11499674089999992,
66
+ 0.03344736819999999
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "receptacle",
84
+ "stackable",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.6800000000000006,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ -0.8250000000000002,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "outlet_room": {
123
+ "cls": "WallAccessory"
124
+ },
125
+ "outlet_2_room": {
126
+ "cls": "WallAccessory"
127
+ },
128
+ "light_switch_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "light_switch_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "window_group_room": {
135
+ "cls": "Window"
136
+ },
137
+ "floor_room": {
138
+ "cls": "Floor"
139
+ },
140
+ "floor_backing_room": {
141
+ "cls": "Floor"
142
+ },
143
+ "stool_1_room": {
144
+ "cls": "Stool"
145
+ },
146
+ "stool_2_room": {
147
+ "cls": "Stool"
148
+ },
149
+ "stool_3_room": {
150
+ "cls": "Stool"
151
+ },
152
+ "counter_corner_main_main_group": {
153
+ "cls": "Counter"
154
+ },
155
+ "counter_main_main_group": {
156
+ "cls": "Counter"
157
+ },
158
+ "stovetop_main_group": {
159
+ "cls": "Stovetop"
160
+ },
161
+ "counter_1_right_main_group": {
162
+ "cls": "Counter"
163
+ },
164
+ "fridge_main_group": {
165
+ "cls": "FridgeFrenchDoor"
166
+ },
167
+ "fridge_housing_main_group": {
168
+ "cls": "HousingCabinet"
169
+ },
170
+ "stack_1_main_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_main_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_main_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_main_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_main_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_main_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_main_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_main_group_2": {
192
+ "cls": "PanelCabinet"
193
+ },
194
+ "stack_3_main_group_base": {
195
+ "cls": "Box"
196
+ },
197
+ "stack_3_main_group_1": {
198
+ "cls": "HingeCabinet"
199
+ },
200
+ "stack_3_main_group_2": {
201
+ "cls": "Drawer"
202
+ },
203
+ "stack_3_main_group_3": {
204
+ "cls": "Drawer"
205
+ },
206
+ "hood_main_group": {
207
+ "cls": "Hood"
208
+ },
209
+ "cab_main_main_group": {
210
+ "cls": "HingeCabinet"
211
+ },
212
+ "shelves_main_group": {
213
+ "cls": "OpenCabinet"
214
+ },
215
+ "fridge_cab_main_group": {
216
+ "cls": "HingeCabinet"
217
+ },
218
+ "paper_towel_main_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "knife_block_main_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "toaster_main_group": {
225
+ "cls": "Toaster"
226
+ },
227
+ "utensil_set_main_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "toaster_oven_main_group": {
231
+ "cls": "ToasterOven"
232
+ },
233
+ "jar_main_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "jar_2_main_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "glass_cup_main_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "glass_cup_2_main_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "jar_main_group_auxiliary_main_group": {
246
+ "cls": "Accessory"
247
+ },
248
+ "jar_2_main_group_auxiliary_main_group": {
249
+ "cls": "Accessory"
250
+ },
251
+ "cab_1_left_group": {
252
+ "cls": "SingleCabinet"
253
+ },
254
+ "cab_2_left_group": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "cab_corner_3_left_group": {
258
+ "cls": "Box"
259
+ },
260
+ "cab_corner_4_left_group": {
261
+ "cls": "Box"
262
+ },
263
+ "sink_left_group": {
264
+ "cls": "Sink"
265
+ },
266
+ "counter_1_left_left_group": {
267
+ "cls": "Counter"
268
+ },
269
+ "counter_corner_left_group": {
270
+ "cls": "Counter"
271
+ },
272
+ "bottom_left_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "bottom_left_group_1": {
276
+ "cls": "Drawer"
277
+ },
278
+ "bottom_left_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "oven_left_group": {
282
+ "cls": "Oven"
283
+ },
284
+ "oven_housing_left_group": {
285
+ "cls": "HousingCabinet"
286
+ },
287
+ "microwave_left_group": {
288
+ "cls": "Microwave"
289
+ },
290
+ "micro_housing_left_group": {
291
+ "cls": "HousingCabinet"
292
+ },
293
+ "top_left_group": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "stack_1_left_group": {
297
+ "cls": "SingleCabinet"
298
+ },
299
+ "dishwasher_left_group": {
300
+ "cls": "Dishwasher"
301
+ },
302
+ "stack_2_left_group_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_2_left_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "stack_2_left_group_2": {
309
+ "cls": "PanelCabinet"
310
+ },
311
+ "stack_3_left_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_3_left_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_3_left_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_3_left_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_left_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "soap_dispenser_left_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "tiered_basket_left_group": {
330
+ "cls": "Accessory"
331
+ },
332
+ "island_island_group": {
333
+ "cls": "Counter"
334
+ },
335
+ "plant_island_group": {
336
+ "cls": "Accessory"
337
+ },
338
+ "fruit_bowl_island_group": {
339
+ "cls": "Accessory"
340
+ },
341
+ "salt_shaker_island_group": {
342
+ "cls": "Accessory"
343
+ },
344
+ "salt_shaker_island_group_auxiliary_island_group": {
345
+ "cls": "Accessory"
346
+ }
347
+ },
348
+ "gen_textures": {},
349
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
350
+ "fixture_refs": {
351
+ "dishwasher": "dishwasher_left_group",
352
+ "counter": "counter_1_left_left_group"
353
+ },
354
+ "cam_configs": {
355
+ "robot0_agentview_center": {
356
+ "pos": [
357
+ -0.6,
358
+ 0.0,
359
+ 1.15
360
+ ],
361
+ "quat": [
362
+ 0.636945903301239,
363
+ 0.3325185477733612,
364
+ -0.3199238181114197,
365
+ -0.6175596117973328
366
+ ],
367
+ "parent_body": "mobilebase0_support"
368
+ },
369
+ "robot0_agentview_left": {
370
+ "pos": [
371
+ -0.5,
372
+ 0.35,
373
+ 1.05
374
+ ],
375
+ "quat": [
376
+ 0.55623853,
377
+ 0.29935253,
378
+ -0.37678665,
379
+ -0.6775092
380
+ ],
381
+ "camera_attribs": {
382
+ "fovy": "60"
383
+ },
384
+ "parent_body": "mobilebase0_support"
385
+ },
386
+ "robot0_agentview_right": {
387
+ "pos": [
388
+ -0.5,
389
+ -0.35,
390
+ 1.05
391
+ ],
392
+ "quat": [
393
+ 0.6775091886520386,
394
+ 0.3767866790294647,
395
+ -0.2993525564670563,
396
+ -0.55623859167099
397
+ ],
398
+ "camera_attribs": {
399
+ "fovy": "60"
400
+ },
401
+ "parent_body": "mobilebase0_support"
402
+ },
403
+ "robot0_frontview": {
404
+ "pos": [
405
+ -0.5,
406
+ 0,
407
+ 0.95
408
+ ],
409
+ "quat": [
410
+ 0.6088936924934387,
411
+ 0.3814677894115448,
412
+ -0.3673907518386841,
413
+ -0.5905545353889465
414
+ ],
415
+ "camera_attribs": {
416
+ "fovy": "60"
417
+ },
418
+ "parent_body": "mobilebase0_support"
419
+ },
420
+ "robot0_eye_in_hand": {
421
+ "pos": [
422
+ 0.05,
423
+ 0,
424
+ 0
425
+ ],
426
+ "quat": [
427
+ 0,
428
+ 0.707107,
429
+ 0.707107,
430
+ 0
431
+ ],
432
+ "parent_body": "robot0_right_hand"
433
+ }
434
+ },
435
+ "init_robot_base_pos": [
436
+ 0.9609787184089832,
437
+ -2.5139944422331815,
438
+ 0.0
439
+ ],
440
+ "init_robot_base_ori": [
441
+ 0.0,
442
+ 0.0,
443
+ 3.1415963267948968
444
+ ]
445
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000339/ep_meta.json ADDED
@@ -0,0 +1,355 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 1,
3
+ "style_id": 1,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_main_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_main_group",
12
+ "min_size": [
13
+ 0.08707892339999997,
14
+ 0.08707892024999996,
15
+ 0.10499999999999995
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "stackable",
33
+ "receptacle"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.7256472459073544,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.5750000075896851,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_main_main_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_main_group",
63
+ "min_size": [
64
+ 0.11990635799999994,
65
+ 0.11999860559999995,
66
+ 0.049146400799999976
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "stackable",
84
+ "receptacle",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.7256472459073544,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.5750000075896851,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "floor_room": {
129
+ "cls": "Floor"
130
+ },
131
+ "floor_backing_room": {
132
+ "cls": "Floor"
133
+ },
134
+ "outlet_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "outlet_2_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "sink_main_group": {
147
+ "cls": "Sink"
148
+ },
149
+ "counter_main_main_group": {
150
+ "cls": "Counter"
151
+ },
152
+ "stove_main_group": {
153
+ "cls": "Stove"
154
+ },
155
+ "counter_right_main_group": {
156
+ "cls": "Counter"
157
+ },
158
+ "fridge_main_group": {
159
+ "cls": "FridgeBottomFreezer"
160
+ },
161
+ "cab_1_main_group": {
162
+ "cls": "SingleCabinet"
163
+ },
164
+ "cab_2_main_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_main_main_group": {
168
+ "cls": "HingeCabinet"
169
+ },
170
+ "microwave_main_group": {
171
+ "cls": "Microwave"
172
+ },
173
+ "cab_micro_main_group": {
174
+ "cls": "HingeCabinet"
175
+ },
176
+ "cab_3_main_group": {
177
+ "cls": "OpenCabinet"
178
+ },
179
+ "cab_4_main_group": {
180
+ "cls": "HingeCabinet"
181
+ },
182
+ "stack_1_main_group_base": {
183
+ "cls": "Box"
184
+ },
185
+ "stack_1_main_group_1": {
186
+ "cls": "Drawer"
187
+ },
188
+ "stack_1_main_group_2": {
189
+ "cls": "Drawer"
190
+ },
191
+ "stack_1_main_group_3": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_1_main_group_4": {
195
+ "cls": "Drawer"
196
+ },
197
+ "stack_2_main_group_base": {
198
+ "cls": "Box"
199
+ },
200
+ "stack_2_main_group_1": {
201
+ "cls": "HingeCabinet"
202
+ },
203
+ "stack_2_main_group_2": {
204
+ "cls": "PanelCabinet"
205
+ },
206
+ "dishwasher_main_group": {
207
+ "cls": "Dishwasher"
208
+ },
209
+ "stack_3_main_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_3_main_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_main_group_base": {
216
+ "cls": "Box"
217
+ },
218
+ "stack_4_main_group_1": {
219
+ "cls": "SingleCabinet"
220
+ },
221
+ "stack_4_main_group_2": {
222
+ "cls": "Drawer"
223
+ },
224
+ "oil_bottle_main_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "soap_dispenser_main_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "toaster_main_group": {
231
+ "cls": "Toaster"
232
+ },
233
+ "knife_block_main_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "digital_scale_main_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "paper_towel_main_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "coffee_machine_main_group": {
243
+ "cls": "CoffeeMachine"
244
+ },
245
+ "glass_cup_main_group": {
246
+ "cls": "Accessory"
247
+ },
248
+ "glass_cup_2_main_group": {
249
+ "cls": "Accessory"
250
+ },
251
+ "glass_cup_3_main_group": {
252
+ "cls": "Accessory"
253
+ },
254
+ "oil_bottle_main_group_auxiliary_main_group": {
255
+ "cls": "Accessory"
256
+ }
257
+ },
258
+ "gen_textures": {},
259
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
260
+ "fixture_refs": {
261
+ "dishwasher": "dishwasher_main_group",
262
+ "counter": "counter_main_main_group"
263
+ },
264
+ "cam_configs": {
265
+ "robot0_agentview_center": {
266
+ "pos": [
267
+ -0.6,
268
+ 0.0,
269
+ 1.15
270
+ ],
271
+ "quat": [
272
+ 0.636945903301239,
273
+ 0.3325185477733612,
274
+ -0.3199238181114197,
275
+ -0.6175596117973328
276
+ ],
277
+ "parent_body": "mobilebase0_support"
278
+ },
279
+ "robot0_agentview_left": {
280
+ "pos": [
281
+ -0.5,
282
+ 0.35,
283
+ 1.05
284
+ ],
285
+ "quat": [
286
+ 0.55623853,
287
+ 0.29935253,
288
+ -0.37678665,
289
+ -0.6775092
290
+ ],
291
+ "camera_attribs": {
292
+ "fovy": "60"
293
+ },
294
+ "parent_body": "mobilebase0_support"
295
+ },
296
+ "robot0_agentview_right": {
297
+ "pos": [
298
+ -0.5,
299
+ -0.35,
300
+ 1.05
301
+ ],
302
+ "quat": [
303
+ 0.6775091886520386,
304
+ 0.3767866790294647,
305
+ -0.2993525564670563,
306
+ -0.55623859167099
307
+ ],
308
+ "camera_attribs": {
309
+ "fovy": "60"
310
+ },
311
+ "parent_body": "mobilebase0_support"
312
+ },
313
+ "robot0_frontview": {
314
+ "pos": [
315
+ -0.5,
316
+ 0,
317
+ 0.95
318
+ ],
319
+ "quat": [
320
+ 0.6088936924934387,
321
+ 0.3814677894115448,
322
+ -0.3673907518386841,
323
+ -0.5905545353889465
324
+ ],
325
+ "camera_attribs": {
326
+ "fovy": "60"
327
+ },
328
+ "parent_body": "mobilebase0_support"
329
+ },
330
+ "robot0_eye_in_hand": {
331
+ "pos": [
332
+ 0.05,
333
+ 0,
334
+ 0
335
+ ],
336
+ "quat": [
337
+ 0,
338
+ 0.707107,
339
+ 0.707107,
340
+ 0
341
+ ],
342
+ "parent_body": "robot0_right_hand"
343
+ }
344
+ },
345
+ "init_robot_base_pos": [
346
+ 1.4266571751319501,
347
+ -0.9277337702441507,
348
+ 0.0
349
+ ],
350
+ "init_robot_base_ori": [
351
+ 0.0,
352
+ 0.0,
353
+ 1.5707963267948966
354
+ ]
355
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000349/ep_meta.json ADDED
@@ -0,0 +1,460 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 6,
3
+ "style_id": 6,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_main_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_main_group",
12
+ "min_size": [
13
+ 0.08499978494999998,
14
+ 0.08499945004999998,
15
+ 0.08499999999999998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "stackable",
33
+ "receptacle"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.7841409581031384,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.32500000758968506,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_main_main_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_main_group",
63
+ "min_size": [
64
+ 0.11990635799999994,
65
+ 0.11999860559999995,
66
+ 0.049146400799999976
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "stackable",
84
+ "receptacle",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.7841409581031384,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.32500000758968506,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "light_switch_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_2_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "utensil_rack_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "cab_main_main_group": {
156
+ "cls": "HingeCabinet"
157
+ },
158
+ "cab_corner_main_group": {
159
+ "cls": "Box"
160
+ },
161
+ "cab_corner_2_main_group": {
162
+ "cls": "Box"
163
+ },
164
+ "counter_corner_left_main_group": {
165
+ "cls": "Counter"
166
+ },
167
+ "sink_main_group": {
168
+ "cls": "Sink"
169
+ },
170
+ "counter_main_main_group": {
171
+ "cls": "Counter"
172
+ },
173
+ "counter_corner_right_main_group": {
174
+ "cls": "Counter"
175
+ },
176
+ "stack_1_main_group_base": {
177
+ "cls": "Box"
178
+ },
179
+ "stack_1_main_group_1": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_main_group_2": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_1_main_group_3": {
186
+ "cls": "Drawer"
187
+ },
188
+ "stack_1_main_group_4": {
189
+ "cls": "Drawer"
190
+ },
191
+ "stack_2_main_group_base": {
192
+ "cls": "Box"
193
+ },
194
+ "stack_2_main_group_1": {
195
+ "cls": "HingeCabinet"
196
+ },
197
+ "stack_2_main_group_2": {
198
+ "cls": "PanelCabinet"
199
+ },
200
+ "dishwasher_main_group": {
201
+ "cls": "Dishwasher"
202
+ },
203
+ "stack_3_main_group_base": {
204
+ "cls": "Box"
205
+ },
206
+ "stack_3_main_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "stack_3_main_group_2": {
210
+ "cls": "Drawer"
211
+ },
212
+ "stack_3_main_group_3": {
213
+ "cls": "Drawer"
214
+ },
215
+ "toaster_oven_main_group": {
216
+ "cls": "ToasterOven"
217
+ },
218
+ "knife_block_main_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "utensil_set_main_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "tiered_basket_main_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paper_towel_main_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "soap_dispenser_main_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "counter_1_right_group": {
234
+ "cls": "Counter"
235
+ },
236
+ "stove_right_group": {
237
+ "cls": "Stove"
238
+ },
239
+ "counter_2_right_group": {
240
+ "cls": "Counter"
241
+ },
242
+ "fridge_right_group": {
243
+ "cls": "FridgeFrenchDoor"
244
+ },
245
+ "fridge_housing_right_group": {
246
+ "cls": "HousingCabinet"
247
+ },
248
+ "counter_corner_right_group": {
249
+ "cls": "Counter"
250
+ },
251
+ "stack_1_right_group_base": {
252
+ "cls": "Box"
253
+ },
254
+ "stack_1_right_group_1": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "stack_1_right_group_2": {
258
+ "cls": "Drawer"
259
+ },
260
+ "stack_2_right_group_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_2_right_group_1": {
264
+ "cls": "SingleCabinet"
265
+ },
266
+ "stack_2_right_group_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "cab_1_right_group": {
270
+ "cls": "SingleCabinet"
271
+ },
272
+ "microwave_right_group": {
273
+ "cls": "Microwave"
274
+ },
275
+ "cab_micro_right_group": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "cab_2_right_group": {
279
+ "cls": "SingleCabinet"
280
+ },
281
+ "cab_3_right_group": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "toaster_right_group": {
285
+ "cls": "Toaster"
286
+ },
287
+ "counter_1_left_group": {
288
+ "cls": "Counter"
289
+ },
290
+ "counter_corner_left_group": {
291
+ "cls": "Counter"
292
+ },
293
+ "stack_1_left_group_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_1_left_group_1": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_1_left_group_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_1_left_group_3": {
303
+ "cls": "Drawer"
304
+ },
305
+ "stack_1_left_group_4": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_2_left_group_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_2_left_group_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "stack_2_left_group_2": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_2_left_group_3": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_3_left_group_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_3_left_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "stack_3_left_group_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "cab_1_left_group": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "shelves_left_group": {
333
+ "cls": "OpenCabinet"
334
+ },
335
+ "coffee_machine_left_group": {
336
+ "cls": "CoffeeMachine"
337
+ },
338
+ "plant_left_group": {
339
+ "cls": "Accessory"
340
+ },
341
+ "oil_bottle_left_group": {
342
+ "cls": "Accessory"
343
+ },
344
+ "salt_shaker_left_group": {
345
+ "cls": "Accessory"
346
+ },
347
+ "paprika_left_group": {
348
+ "cls": "Accessory"
349
+ },
350
+ "cinnamon_left_group": {
351
+ "cls": "Accessory"
352
+ },
353
+ "turmeric_left_group": {
354
+ "cls": "Accessory"
355
+ },
356
+ "oil_bottle_left_group_auxiliary_left_group": {
357
+ "cls": "Accessory"
358
+ },
359
+ "salt_shaker_left_group_auxiliary_left_group": {
360
+ "cls": "Accessory"
361
+ }
362
+ },
363
+ "gen_textures": {},
364
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
365
+ "fixture_refs": {
366
+ "dishwasher": "dishwasher_main_group",
367
+ "counter": "counter_main_main_group"
368
+ },
369
+ "cam_configs": {
370
+ "robot0_agentview_center": {
371
+ "pos": [
372
+ -0.6,
373
+ 0.0,
374
+ 1.15
375
+ ],
376
+ "quat": [
377
+ 0.636945903301239,
378
+ 0.3325185477733612,
379
+ -0.3199238181114197,
380
+ -0.6175596117973328
381
+ ],
382
+ "parent_body": "mobilebase0_support"
383
+ },
384
+ "robot0_agentview_left": {
385
+ "pos": [
386
+ -0.5,
387
+ 0.35,
388
+ 1.05
389
+ ],
390
+ "quat": [
391
+ 0.55623853,
392
+ 0.29935253,
393
+ -0.37678665,
394
+ -0.6775092
395
+ ],
396
+ "camera_attribs": {
397
+ "fovy": "60"
398
+ },
399
+ "parent_body": "mobilebase0_support"
400
+ },
401
+ "robot0_agentview_right": {
402
+ "pos": [
403
+ -0.5,
404
+ -0.35,
405
+ 1.05
406
+ ],
407
+ "quat": [
408
+ 0.6775091886520386,
409
+ 0.3767866790294647,
410
+ -0.2993525564670563,
411
+ -0.55623859167099
412
+ ],
413
+ "camera_attribs": {
414
+ "fovy": "60"
415
+ },
416
+ "parent_body": "mobilebase0_support"
417
+ },
418
+ "robot0_frontview": {
419
+ "pos": [
420
+ -0.5,
421
+ 0,
422
+ 0.95
423
+ ],
424
+ "quat": [
425
+ 0.6088936924934387,
426
+ 0.3814677894115448,
427
+ -0.3673907518386841,
428
+ -0.5905545353889465
429
+ ],
430
+ "camera_attribs": {
431
+ "fovy": "60"
432
+ },
433
+ "parent_body": "mobilebase0_support"
434
+ },
435
+ "robot0_eye_in_hand": {
436
+ "pos": [
437
+ 0.05,
438
+ 0,
439
+ 0
440
+ ],
441
+ "quat": [
442
+ 0,
443
+ 0.707107,
444
+ 0.707107,
445
+ 0
446
+ ],
447
+ "parent_body": "robot0_right_hand"
448
+ }
449
+ },
450
+ "init_robot_base_pos": [
451
+ 2.0546664835854096,
452
+ -0.9706085029568434,
453
+ 0.0
454
+ ],
455
+ "init_robot_base_ori": [
456
+ 0.0,
457
+ 0.0,
458
+ 1.5707963267948966
459
+ ]
460
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000382/ep_meta.json ADDED
@@ -0,0 +1,436 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 5,
3
+ "style_id": 5,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08499978494999998,
14
+ 0.08499945004999998,
15
+ 0.08499999999999998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "receptacle",
33
+ "stackable"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.9958662898282258,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.07499999999999973,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.11499973549999994,
65
+ 0.11499674089999992,
66
+ 0.03344736819999999
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "receptacle",
84
+ "stackable",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.9958662898282258,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.07499999999999973,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "untensil_rack_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "sink_left_group": {
156
+ "cls": "Sink"
157
+ },
158
+ "counter_left_group": {
159
+ "cls": "Counter"
160
+ },
161
+ "fridge_left_group": {
162
+ "cls": "FridgeBottomFreezer"
163
+ },
164
+ "cab_1_left_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_2_left_group": {
168
+ "cls": "OpenCabinet"
169
+ },
170
+ "stack_1_left_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_left_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_left_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_left_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_left_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_left_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_left_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_left_group_2": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_2_left_group_3": {
195
+ "cls": "Drawer"
196
+ },
197
+ "dishwasher_left_group": {
198
+ "cls": "Dishwasher"
199
+ },
200
+ "stack_3_left_group_base": {
201
+ "cls": "Box"
202
+ },
203
+ "stack_3_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "stack_3_left_group_2": {
207
+ "cls": "PanelCabinet"
208
+ },
209
+ "stack_4_left_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_4_left_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_left_group_2": {
216
+ "cls": "Drawer"
217
+ },
218
+ "flower_vase_left_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "soap_dispenser_left_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "knife_block_left_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paprika_left_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "cinnamon_left_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "turmeric_left_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "glass_cup_left_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "digital_scale_left_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "paper_towel_left_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "counter_main_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stove_main_group": {
249
+ "cls": "Stove"
250
+ },
251
+ "counter_right_main_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "cab_main_main_group": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "cab_1_main_group": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "microwave_main_group": {
261
+ "cls": "Microwave"
262
+ },
263
+ "cab_micro_main_group": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cab_2_main_group": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cab_3_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_1_main_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_1_main_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_1_main_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_1_main_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_2_main_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_2_main_group_1": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_2_main_group_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_2_main_group_4": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_3_main_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_3_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_3_main_group_3": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_4_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_4_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_4_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_4_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_main_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "utensil_set_main_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "toaster_main_group": {
330
+ "cls": "Toaster"
331
+ },
332
+ "toaster_oven_main_group": {
333
+ "cls": "ToasterOven"
334
+ },
335
+ "tiered_basket_main_group": {
336
+ "cls": "Accessory"
337
+ }
338
+ },
339
+ "gen_textures": {},
340
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
341
+ "fixture_refs": {
342
+ "dishwasher": "dishwasher_left_group",
343
+ "counter": "counter_left_group"
344
+ },
345
+ "cam_configs": {
346
+ "robot0_agentview_center": {
347
+ "pos": [
348
+ -0.6,
349
+ 0.0,
350
+ 1.15
351
+ ],
352
+ "quat": [
353
+ 0.636945903301239,
354
+ 0.3325185477733612,
355
+ -0.3199238181114197,
356
+ -0.6175596117973328
357
+ ],
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_agentview_left": {
361
+ "pos": [
362
+ -0.5,
363
+ 0.35,
364
+ 1.05
365
+ ],
366
+ "quat": [
367
+ 0.55623853,
368
+ 0.29935253,
369
+ -0.37678665,
370
+ -0.6775092
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_agentview_right": {
378
+ "pos": [
379
+ -0.5,
380
+ -0.35,
381
+ 1.05
382
+ ],
383
+ "quat": [
384
+ 0.6775091886520386,
385
+ 0.3767866790294647,
386
+ -0.2993525564670563,
387
+ -0.55623859167099
388
+ ],
389
+ "camera_attribs": {
390
+ "fovy": "60"
391
+ },
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_frontview": {
395
+ "pos": [
396
+ -0.5,
397
+ 0,
398
+ 0.95
399
+ ],
400
+ "quat": [
401
+ 0.6088936924934387,
402
+ 0.3814677894115448,
403
+ -0.3673907518386841,
404
+ -0.5905545353889465
405
+ ],
406
+ "camera_attribs": {
407
+ "fovy": "60"
408
+ },
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_eye_in_hand": {
412
+ "pos": [
413
+ 0.05,
414
+ 0,
415
+ 0
416
+ ],
417
+ "quat": [
418
+ 0,
419
+ 0.707107,
420
+ 0.707107,
421
+ 0
422
+ ],
423
+ "parent_body": "robot0_right_hand"
424
+ }
425
+ },
426
+ "init_robot_base_pos": [
427
+ 0.9959537445988341,
428
+ -3.3565862139757465,
429
+ 0.0
430
+ ],
431
+ "init_robot_base_ori": [
432
+ 0.0,
433
+ 0.0,
434
+ 3.1415963267948968
435
+ ]
436
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000423/ep_meta.json ADDED
@@ -0,0 +1,436 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 5,
3
+ "style_id": 5,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08707892339999997,
14
+ 0.08707892024999996,
15
+ 0.10499999999999995
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "stackable",
33
+ "receptacle"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.9958662898282258,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.07499999999999973,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.11999818679999995,
65
+ 0.11999429999999994,
66
+ 0.049354819199999976
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "stackable",
84
+ "receptacle",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.9958662898282258,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.07499999999999973,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "untensil_rack_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "light_switch_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "sink_left_group": {
156
+ "cls": "Sink"
157
+ },
158
+ "counter_left_group": {
159
+ "cls": "Counter"
160
+ },
161
+ "fridge_left_group": {
162
+ "cls": "FridgeBottomFreezer"
163
+ },
164
+ "cab_1_left_group": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "cab_2_left_group": {
168
+ "cls": "OpenCabinet"
169
+ },
170
+ "stack_1_left_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_left_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_left_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_left_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_left_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_left_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_left_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_left_group_2": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_2_left_group_3": {
195
+ "cls": "Drawer"
196
+ },
197
+ "dishwasher_left_group": {
198
+ "cls": "Dishwasher"
199
+ },
200
+ "stack_3_left_group_base": {
201
+ "cls": "Box"
202
+ },
203
+ "stack_3_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "stack_3_left_group_2": {
207
+ "cls": "PanelCabinet"
208
+ },
209
+ "stack_4_left_group_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_4_left_group_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "stack_4_left_group_2": {
216
+ "cls": "Drawer"
217
+ },
218
+ "flower_vase_left_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "soap_dispenser_left_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "knife_block_left_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paprika_left_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "cinnamon_left_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "turmeric_left_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "glass_cup_left_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "digital_scale_left_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "paper_towel_left_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "counter_main_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stove_main_group": {
249
+ "cls": "Stove"
250
+ },
251
+ "counter_right_main_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "cab_main_main_group": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "cab_1_main_group": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "microwave_main_group": {
261
+ "cls": "Microwave"
262
+ },
263
+ "cab_micro_main_group": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cab_2_main_group": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cab_3_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_1_main_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_1_main_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_1_main_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_1_main_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_2_main_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_2_main_group_1": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_2_main_group_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_2_main_group_4": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_3_main_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_3_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_3_main_group_3": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_4_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_4_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_4_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_4_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_main_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "utensil_set_main_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "toaster_main_group": {
330
+ "cls": "Toaster"
331
+ },
332
+ "toaster_oven_main_group": {
333
+ "cls": "ToasterOven"
334
+ },
335
+ "tiered_basket_main_group": {
336
+ "cls": "Accessory"
337
+ }
338
+ },
339
+ "gen_textures": {},
340
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
341
+ "fixture_refs": {
342
+ "dishwasher": "dishwasher_left_group",
343
+ "counter": "counter_left_group"
344
+ },
345
+ "cam_configs": {
346
+ "robot0_agentview_center": {
347
+ "pos": [
348
+ -0.6,
349
+ 0.0,
350
+ 1.15
351
+ ],
352
+ "quat": [
353
+ 0.636945903301239,
354
+ 0.3325185477733612,
355
+ -0.3199238181114197,
356
+ -0.6175596117973328
357
+ ],
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_agentview_left": {
361
+ "pos": [
362
+ -0.5,
363
+ 0.35,
364
+ 1.05
365
+ ],
366
+ "quat": [
367
+ 0.55623853,
368
+ 0.29935253,
369
+ -0.37678665,
370
+ -0.6775092
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_agentview_right": {
378
+ "pos": [
379
+ -0.5,
380
+ -0.35,
381
+ 1.05
382
+ ],
383
+ "quat": [
384
+ 0.6775091886520386,
385
+ 0.3767866790294647,
386
+ -0.2993525564670563,
387
+ -0.55623859167099
388
+ ],
389
+ "camera_attribs": {
390
+ "fovy": "60"
391
+ },
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_frontview": {
395
+ "pos": [
396
+ -0.5,
397
+ 0,
398
+ 0.95
399
+ ],
400
+ "quat": [
401
+ 0.6088936924934387,
402
+ 0.3814677894115448,
403
+ -0.3673907518386841,
404
+ -0.5905545353889465
405
+ ],
406
+ "camera_attribs": {
407
+ "fovy": "60"
408
+ },
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_eye_in_hand": {
412
+ "pos": [
413
+ 0.05,
414
+ 0,
415
+ 0
416
+ ],
417
+ "quat": [
418
+ 0,
419
+ 0.707107,
420
+ 0.707107,
421
+ 0
422
+ ],
423
+ "parent_body": "robot0_right_hand"
424
+ }
425
+ },
426
+ "init_robot_base_pos": [
427
+ 0.9859895092714335,
428
+ -3.260523813772608,
429
+ 0.0
430
+ ],
431
+ "init_robot_base_ori": [
432
+ 0.0,
433
+ 0.0,
434
+ 3.1415963267948968
435
+ ]
436
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000441/ep_meta.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 4,
3
+ "style_id": 4,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_1_left_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_left_group",
12
+ "min_size": [
13
+ 0.08499978494999998,
14
+ 0.08499945004999998,
15
+ 0.08499999999999998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "stackable",
33
+ "receptacle"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.6800000000000006,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ -0.8250000000000002,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_1_left_left_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_left_group",
63
+ "min_size": [
64
+ 0.12999703989999994,
65
+ 0.12999646659999994,
66
+ 0.043022952699999985
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "stackable",
84
+ "receptacle",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.6800000000000006,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ -0.8250000000000002,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "outlet_room": {
123
+ "cls": "WallAccessory"
124
+ },
125
+ "outlet_2_room": {
126
+ "cls": "WallAccessory"
127
+ },
128
+ "light_switch_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "light_switch_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "window_group_room": {
135
+ "cls": "Window"
136
+ },
137
+ "floor_room": {
138
+ "cls": "Floor"
139
+ },
140
+ "floor_backing_room": {
141
+ "cls": "Floor"
142
+ },
143
+ "stool_1_room": {
144
+ "cls": "Stool"
145
+ },
146
+ "stool_2_room": {
147
+ "cls": "Stool"
148
+ },
149
+ "stool_3_room": {
150
+ "cls": "Stool"
151
+ },
152
+ "counter_corner_main_main_group": {
153
+ "cls": "Counter"
154
+ },
155
+ "counter_main_main_group": {
156
+ "cls": "Counter"
157
+ },
158
+ "stovetop_main_group": {
159
+ "cls": "Stovetop"
160
+ },
161
+ "counter_1_right_main_group": {
162
+ "cls": "Counter"
163
+ },
164
+ "fridge_main_group": {
165
+ "cls": "FridgeFrenchDoor"
166
+ },
167
+ "fridge_housing_main_group": {
168
+ "cls": "HousingCabinet"
169
+ },
170
+ "stack_1_main_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_main_group_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_main_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_1_main_group_3": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_main_group_4": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_main_group_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_main_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_main_group_2": {
192
+ "cls": "PanelCabinet"
193
+ },
194
+ "stack_3_main_group_base": {
195
+ "cls": "Box"
196
+ },
197
+ "stack_3_main_group_1": {
198
+ "cls": "HingeCabinet"
199
+ },
200
+ "stack_3_main_group_2": {
201
+ "cls": "Drawer"
202
+ },
203
+ "stack_3_main_group_3": {
204
+ "cls": "Drawer"
205
+ },
206
+ "hood_main_group": {
207
+ "cls": "Hood"
208
+ },
209
+ "cab_main_main_group": {
210
+ "cls": "HingeCabinet"
211
+ },
212
+ "shelves_main_group": {
213
+ "cls": "OpenCabinet"
214
+ },
215
+ "fridge_cab_main_group": {
216
+ "cls": "HingeCabinet"
217
+ },
218
+ "paper_towel_main_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "knife_block_main_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "toaster_main_group": {
225
+ "cls": "Toaster"
226
+ },
227
+ "utensil_set_main_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "toaster_oven_main_group": {
231
+ "cls": "ToasterOven"
232
+ },
233
+ "jar_main_group": {
234
+ "cls": "Accessory"
235
+ },
236
+ "jar_2_main_group": {
237
+ "cls": "Accessory"
238
+ },
239
+ "glass_cup_main_group": {
240
+ "cls": "Accessory"
241
+ },
242
+ "glass_cup_2_main_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "jar_main_group_auxiliary_main_group": {
246
+ "cls": "Accessory"
247
+ },
248
+ "jar_2_main_group_auxiliary_main_group": {
249
+ "cls": "Accessory"
250
+ },
251
+ "cab_1_left_group": {
252
+ "cls": "SingleCabinet"
253
+ },
254
+ "cab_2_left_group": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "cab_corner_3_left_group": {
258
+ "cls": "Box"
259
+ },
260
+ "cab_corner_4_left_group": {
261
+ "cls": "Box"
262
+ },
263
+ "sink_left_group": {
264
+ "cls": "Sink"
265
+ },
266
+ "counter_1_left_left_group": {
267
+ "cls": "Counter"
268
+ },
269
+ "counter_corner_left_group": {
270
+ "cls": "Counter"
271
+ },
272
+ "bottom_left_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "bottom_left_group_1": {
276
+ "cls": "Drawer"
277
+ },
278
+ "bottom_left_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "oven_left_group": {
282
+ "cls": "Oven"
283
+ },
284
+ "oven_housing_left_group": {
285
+ "cls": "HousingCabinet"
286
+ },
287
+ "microwave_left_group": {
288
+ "cls": "Microwave"
289
+ },
290
+ "micro_housing_left_group": {
291
+ "cls": "HousingCabinet"
292
+ },
293
+ "top_left_group": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "stack_1_left_group": {
297
+ "cls": "SingleCabinet"
298
+ },
299
+ "dishwasher_left_group": {
300
+ "cls": "Dishwasher"
301
+ },
302
+ "stack_2_left_group_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_2_left_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "stack_2_left_group_2": {
309
+ "cls": "PanelCabinet"
310
+ },
311
+ "stack_3_left_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_3_left_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_3_left_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_3_left_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "coffee_machine_left_group": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "soap_dispenser_left_group": {
327
+ "cls": "Accessory"
328
+ },
329
+ "tiered_basket_left_group": {
330
+ "cls": "Accessory"
331
+ },
332
+ "island_island_group": {
333
+ "cls": "Counter"
334
+ },
335
+ "plant_island_group": {
336
+ "cls": "Accessory"
337
+ },
338
+ "fruit_bowl_island_group": {
339
+ "cls": "Accessory"
340
+ },
341
+ "salt_shaker_island_group": {
342
+ "cls": "Accessory"
343
+ },
344
+ "salt_shaker_island_group_auxiliary_island_group": {
345
+ "cls": "Accessory"
346
+ }
347
+ },
348
+ "gen_textures": {},
349
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
350
+ "fixture_refs": {
351
+ "dishwasher": "dishwasher_left_group",
352
+ "counter": "counter_1_left_left_group"
353
+ },
354
+ "cam_configs": {
355
+ "robot0_agentview_center": {
356
+ "pos": [
357
+ -0.6,
358
+ 0.0,
359
+ 1.15
360
+ ],
361
+ "quat": [
362
+ 0.636945903301239,
363
+ 0.3325185477733612,
364
+ -0.3199238181114197,
365
+ -0.6175596117973328
366
+ ],
367
+ "parent_body": "mobilebase0_support"
368
+ },
369
+ "robot0_agentview_left": {
370
+ "pos": [
371
+ -0.5,
372
+ 0.35,
373
+ 1.05
374
+ ],
375
+ "quat": [
376
+ 0.55623853,
377
+ 0.29935253,
378
+ -0.37678665,
379
+ -0.6775092
380
+ ],
381
+ "camera_attribs": {
382
+ "fovy": "60"
383
+ },
384
+ "parent_body": "mobilebase0_support"
385
+ },
386
+ "robot0_agentview_right": {
387
+ "pos": [
388
+ -0.5,
389
+ -0.35,
390
+ 1.05
391
+ ],
392
+ "quat": [
393
+ 0.6775091886520386,
394
+ 0.3767866790294647,
395
+ -0.2993525564670563,
396
+ -0.55623859167099
397
+ ],
398
+ "camera_attribs": {
399
+ "fovy": "60"
400
+ },
401
+ "parent_body": "mobilebase0_support"
402
+ },
403
+ "robot0_frontview": {
404
+ "pos": [
405
+ -0.5,
406
+ 0,
407
+ 0.95
408
+ ],
409
+ "quat": [
410
+ 0.6088936924934387,
411
+ 0.3814677894115448,
412
+ -0.3673907518386841,
413
+ -0.5905545353889465
414
+ ],
415
+ "camera_attribs": {
416
+ "fovy": "60"
417
+ },
418
+ "parent_body": "mobilebase0_support"
419
+ },
420
+ "robot0_eye_in_hand": {
421
+ "pos": [
422
+ 0.05,
423
+ 0,
424
+ 0
425
+ ],
426
+ "quat": [
427
+ 0,
428
+ 0.707107,
429
+ 0.707107,
430
+ 0
431
+ ],
432
+ "parent_body": "robot0_right_hand"
433
+ }
434
+ },
435
+ "init_robot_base_pos": [
436
+ 0.9661303643515234,
437
+ -3.596935114156057,
438
+ 0.0
439
+ ],
440
+ "init_robot_base_ori": [
441
+ 0.0,
442
+ 0.0,
443
+ 3.1415963267948968
444
+ ]
445
+ }
target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000486/ep_meta.json ADDED
@@ -0,0 +1,460 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 6,
3
+ "style_id": 6,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "dish0",
7
+ "obj_groups": "cup",
8
+ "placement": {
9
+ "fixture": "counter_main_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "dishwasher_main_group",
12
+ "min_size": [
13
+ 0.08499978494999998,
14
+ 0.08499945004999998,
15
+ 0.08499999999999998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.35,
20
+ 0.25
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ]
26
+ },
27
+ "type": "object",
28
+ "info": {
29
+ "groups_containing_sampled_obj": [
30
+ "all",
31
+ "cup",
32
+ "receptacle",
33
+ "stackable"
34
+ ],
35
+ "groups": [
36
+ "cup"
37
+ ],
38
+ "cat": "cup",
39
+ "split": "test",
40
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
41
+ },
42
+ "reset_region": {
43
+ "size": [
44
+ 0.7841409581031384,
45
+ 0.65
46
+ ],
47
+ "offset": [
48
+ 0.32500000758968506,
49
+ -3.469446951953614e-17,
50
+ 0.46
51
+ ],
52
+ "name": "geom_0"
53
+ }
54
+ },
55
+ {
56
+ "name": "dish1",
57
+ "obj_groups": "bowl",
58
+ "object_scale": 0.5,
59
+ "placement": {
60
+ "fixture": "counter_main_main_group",
61
+ "sample_region_kwargs": {
62
+ "ref": "dishwasher_main_group",
63
+ "min_size": [
64
+ 0.12999439049999995,
65
+ 0.12961336439999996,
66
+ 0.03717213369999998
67
+ ]
68
+ },
69
+ "size": [
70
+ 0.35,
71
+ 0.25
72
+ ],
73
+ "pos": [
74
+ "ref",
75
+ -1.0
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "bowl",
83
+ "receptacle",
84
+ "stackable",
85
+ "group1",
86
+ "container_set2"
87
+ ],
88
+ "groups": [
89
+ "bowl"
90
+ ],
91
+ "cat": "bowl",
92
+ "split": "test",
93
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
94
+ },
95
+ "reset_region": {
96
+ "size": [
97
+ 0.7841409581031384,
98
+ 0.65
99
+ ],
100
+ "offset": [
101
+ 0.32500000758968506,
102
+ -3.469446951953614e-17,
103
+ 0.46
104
+ ],
105
+ "name": "geom_0"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "outlet_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "outlet_2_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "outlet_3_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "light_switch_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "light_switch_2_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "utensil_rack_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "window_group_room": {
147
+ "cls": "Window"
148
+ },
149
+ "floor_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "cab_main_main_group": {
156
+ "cls": "HingeCabinet"
157
+ },
158
+ "cab_corner_main_group": {
159
+ "cls": "Box"
160
+ },
161
+ "cab_corner_2_main_group": {
162
+ "cls": "Box"
163
+ },
164
+ "counter_corner_left_main_group": {
165
+ "cls": "Counter"
166
+ },
167
+ "sink_main_group": {
168
+ "cls": "Sink"
169
+ },
170
+ "counter_main_main_group": {
171
+ "cls": "Counter"
172
+ },
173
+ "counter_corner_right_main_group": {
174
+ "cls": "Counter"
175
+ },
176
+ "stack_1_main_group_base": {
177
+ "cls": "Box"
178
+ },
179
+ "stack_1_main_group_1": {
180
+ "cls": "Drawer"
181
+ },
182
+ "stack_1_main_group_2": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_1_main_group_3": {
186
+ "cls": "Drawer"
187
+ },
188
+ "stack_1_main_group_4": {
189
+ "cls": "Drawer"
190
+ },
191
+ "stack_2_main_group_base": {
192
+ "cls": "Box"
193
+ },
194
+ "stack_2_main_group_1": {
195
+ "cls": "HingeCabinet"
196
+ },
197
+ "stack_2_main_group_2": {
198
+ "cls": "PanelCabinet"
199
+ },
200
+ "dishwasher_main_group": {
201
+ "cls": "Dishwasher"
202
+ },
203
+ "stack_3_main_group_base": {
204
+ "cls": "Box"
205
+ },
206
+ "stack_3_main_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "stack_3_main_group_2": {
210
+ "cls": "Drawer"
211
+ },
212
+ "stack_3_main_group_3": {
213
+ "cls": "Drawer"
214
+ },
215
+ "toaster_oven_main_group": {
216
+ "cls": "ToasterOven"
217
+ },
218
+ "knife_block_main_group": {
219
+ "cls": "Accessory"
220
+ },
221
+ "utensil_set_main_group": {
222
+ "cls": "Accessory"
223
+ },
224
+ "tiered_basket_main_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "paper_towel_main_group": {
228
+ "cls": "Accessory"
229
+ },
230
+ "soap_dispenser_main_group": {
231
+ "cls": "Accessory"
232
+ },
233
+ "counter_1_right_group": {
234
+ "cls": "Counter"
235
+ },
236
+ "stove_right_group": {
237
+ "cls": "Stove"
238
+ },
239
+ "counter_2_right_group": {
240
+ "cls": "Counter"
241
+ },
242
+ "fridge_right_group": {
243
+ "cls": "FridgeFrenchDoor"
244
+ },
245
+ "fridge_housing_right_group": {
246
+ "cls": "HousingCabinet"
247
+ },
248
+ "counter_corner_right_group": {
249
+ "cls": "Counter"
250
+ },
251
+ "stack_1_right_group_base": {
252
+ "cls": "Box"
253
+ },
254
+ "stack_1_right_group_1": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "stack_1_right_group_2": {
258
+ "cls": "Drawer"
259
+ },
260
+ "stack_2_right_group_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_2_right_group_1": {
264
+ "cls": "SingleCabinet"
265
+ },
266
+ "stack_2_right_group_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "cab_1_right_group": {
270
+ "cls": "SingleCabinet"
271
+ },
272
+ "microwave_right_group": {
273
+ "cls": "Microwave"
274
+ },
275
+ "cab_micro_right_group": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "cab_2_right_group": {
279
+ "cls": "SingleCabinet"
280
+ },
281
+ "cab_3_right_group": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "toaster_right_group": {
285
+ "cls": "Toaster"
286
+ },
287
+ "counter_1_left_group": {
288
+ "cls": "Counter"
289
+ },
290
+ "counter_corner_left_group": {
291
+ "cls": "Counter"
292
+ },
293
+ "stack_1_left_group_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_1_left_group_1": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_1_left_group_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_1_left_group_3": {
303
+ "cls": "Drawer"
304
+ },
305
+ "stack_1_left_group_4": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_2_left_group_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_2_left_group_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "stack_2_left_group_2": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_2_left_group_3": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_3_left_group_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_3_left_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "stack_3_left_group_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "cab_1_left_group": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "shelves_left_group": {
333
+ "cls": "OpenCabinet"
334
+ },
335
+ "coffee_machine_left_group": {
336
+ "cls": "CoffeeMachine"
337
+ },
338
+ "plant_left_group": {
339
+ "cls": "Accessory"
340
+ },
341
+ "oil_bottle_left_group": {
342
+ "cls": "Accessory"
343
+ },
344
+ "salt_shaker_left_group": {
345
+ "cls": "Accessory"
346
+ },
347
+ "paprika_left_group": {
348
+ "cls": "Accessory"
349
+ },
350
+ "cinnamon_left_group": {
351
+ "cls": "Accessory"
352
+ },
353
+ "turmeric_left_group": {
354
+ "cls": "Accessory"
355
+ },
356
+ "oil_bottle_left_group_auxiliary_left_group": {
357
+ "cls": "Accessory"
358
+ },
359
+ "salt_shaker_left_group_auxiliary_left_group": {
360
+ "cls": "Accessory"
361
+ }
362
+ },
363
+ "gen_textures": {},
364
+ "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.",
365
+ "fixture_refs": {
366
+ "dishwasher": "dishwasher_main_group",
367
+ "counter": "counter_main_main_group"
368
+ },
369
+ "cam_configs": {
370
+ "robot0_agentview_center": {
371
+ "pos": [
372
+ -0.6,
373
+ 0.0,
374
+ 1.15
375
+ ],
376
+ "quat": [
377
+ 0.636945903301239,
378
+ 0.3325185477733612,
379
+ -0.3199238181114197,
380
+ -0.6175596117973328
381
+ ],
382
+ "parent_body": "mobilebase0_support"
383
+ },
384
+ "robot0_agentview_left": {
385
+ "pos": [
386
+ -0.5,
387
+ 0.35,
388
+ 1.05
389
+ ],
390
+ "quat": [
391
+ 0.55623853,
392
+ 0.29935253,
393
+ -0.37678665,
394
+ -0.6775092
395
+ ],
396
+ "camera_attribs": {
397
+ "fovy": "60"
398
+ },
399
+ "parent_body": "mobilebase0_support"
400
+ },
401
+ "robot0_agentview_right": {
402
+ "pos": [
403
+ -0.5,
404
+ -0.35,
405
+ 1.05
406
+ ],
407
+ "quat": [
408
+ 0.6775091886520386,
409
+ 0.3767866790294647,
410
+ -0.2993525564670563,
411
+ -0.55623859167099
412
+ ],
413
+ "camera_attribs": {
414
+ "fovy": "60"
415
+ },
416
+ "parent_body": "mobilebase0_support"
417
+ },
418
+ "robot0_frontview": {
419
+ "pos": [
420
+ -0.5,
421
+ 0,
422
+ 0.95
423
+ ],
424
+ "quat": [
425
+ 0.6088936924934387,
426
+ 0.3814677894115448,
427
+ -0.3673907518386841,
428
+ -0.5905545353889465
429
+ ],
430
+ "camera_attribs": {
431
+ "fovy": "60"
432
+ },
433
+ "parent_body": "mobilebase0_support"
434
+ },
435
+ "robot0_eye_in_hand": {
436
+ "pos": [
437
+ 0.05,
438
+ 0,
439
+ 0
440
+ ],
441
+ "quat": [
442
+ 0,
443
+ 0.707107,
444
+ 0.707107,
445
+ 0
446
+ ],
447
+ "parent_body": "robot0_right_hand"
448
+ }
449
+ },
450
+ "init_robot_base_pos": [
451
+ 3.2477844471189803,
452
+ -0.9242103202701383,
453
+ 0.0
454
+ ],
455
+ "init_robot_base_ori": [
456
+ 0.0,
457
+ 0.0,
458
+ 1.5707963267948966
459
+ ]
460
+ }
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000008.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2799d067c5ec5170e5505dc2a7ab7b84bf5d8dcc3208fc70691cdef57bed76a7
3
+ size 292206
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000010.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a07c9d2c11c5036f500d11b0bba6436917d20ab9a26fbbc9eb083384791fd081
3
+ size 233234
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000011.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b79ed65af84fb3630ceeb1e87bc8b47cf10c7dbe03ee7e1912d8b268e35c7ec6
3
+ size 326425
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000013.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f8807d4f25d5941379672b6dc6e536954e851b725d3984cd513bb23a8e9e4c95
3
+ size 308926
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000015.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab1449b4922d3afbf1c7d9013238b53c4bede1989ff1bd614a55ff4f36c379db
3
+ size 246712
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000016.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c1f18250bb8a8cbd15f2bfdf23b5d97fe742138c8773a3425b7bcec0bfd9e2c
3
+ size 237284
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000017.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d8985875a991fc00e39c4635be26e8ad07a47711a538b52e36fafe90adf91ae
3
+ size 363658
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000020.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8840394fa09c88dc152a7dbfbb690eec1b15de2e4d62a294ee0093136cd64818
3
+ size 225277
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000021.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3af785533b648266b40e2aac8d8196e51bb2ccfed390051c19b53d9edf84e0c5
3
+ size 180729
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000024.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6208d3a2209d1dbfd3afa5186a608664d443c548860aedb9763becc943e06d8
3
+ size 207260
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000026.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5201979555c49825ec9d03ff305aaa04f982dffbba56284d63bf516c28cf25af
3
+ size 291045
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000027.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:70aa8ff1931d32cf5e94e5b6cb0f83db227b7f78d3e99c35dcbd519dbea081b1
3
+ size 308238
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000028.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3017a6430a07a44f97cd1a3f9785aa11db5d0e5ac1b136d480efa5c7f9d42450
3
+ size 307229
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000029.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d6582d09aecb19bfd7fc45f1983d089c95c42c45808743fe056f7a3ebd5b5a5
3
+ size 241384
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000030.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a99595269d62523f4ce9c4e729c528e8667577247d1249438ae5029d60a516c9
3
+ size 304004
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000031.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e81b36261fbfce0fd8ad770cb32790e5a3a45e109b0751e28c5e8eb157b25a66
3
+ size 221083
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000032.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a43265275a99fa9331f4ddd100b18e08afcae0e9f8c334fcd2f89e2b6504123
3
+ size 342908
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000033.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3085cb4c358aa909d96ee3aa49170984f3fce3fb11db6e14df160c543a043399
3
+ size 309374
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000034.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:156f3687bd929d57dcb7b0ada8566355ff57121f76b5587f591f53f8b86b7bdb
3
+ size 159555
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000036.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c6c34db98cb05602bc04586c51905065658302bf2605c3cc26725a7e9cc8ac2
3
+ size 250349
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000037.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:38ab1113c8de6157fe472c93110942f3bf486b86b8c13895b5988039a8410153
3
+ size 211743
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000038.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:31b077fb68d99bff5ccc67e673127a07c24e0c3a423e524d85a024ea6d769e5e
3
+ size 323492
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000039.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5280a16259fe9eb6c91d3bdf414232bac1e97065e521334be5e10e99acd27f20
3
+ size 222301
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000043.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b51ba7967996816d60f62005558716ccacc75da7de4bb02cede0990d80e2dde7
3
+ size 535247
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000047.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:77d306fa963273cdba22190276dc75bce75b8ceba69e831317dde5616cc33fb9
3
+ size 216201
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000049.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f100893ef8a2dd68e40a7859a83e30de00d695d9ce63ad937b35650c99195abb
3
+ size 387648
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000053.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c44fe1602b1ad31b96e1fc59cbae3ce0638c94cd8a505443d5e1747e97669961
3
+ size 271642
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000054.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7973b9e747b46da76196993541a1144715465fc02e3da74b93c47456e1240d07
3
+ size 269562
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000056.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d66fd52a27781cece62c2cd2c0e7ff60e817f4495a76e32dd9778b56af90949
3
+ size 276082
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000061.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:67c1d971d2331f15af5a466ce25cdde92e2708070337ddd46e146c8109261412
3
+ size 223673
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000062.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a590eed019f5e392d304a8cf0f1167412595124ca600f1f6d777aebea81fe1b
3
+ size 342268
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000063.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5abe4301cd9974435f2b7ff603af39e287add707d6bfef10561d62f4c5789213
3
+ size 531670
target/composite/StackBowlsCabinet/20250815/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000071.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11dce0bace0aa37844835bf710716e9483b26cacd0791f45cdad639b523ec3d7
3
+ size 207620