diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/dataset_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83bf928c68d48050a4a45933fcb3b23ab8b94aea --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "7-30-2025", + "env": "BowlAndCup", + "env_args": { + "type": 1, + "env_name": "BowlAndCup", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "BowlAndCup", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "BowlAndCup", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "22:30:52", + "total": 116793 +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a677612b757b2df6323524b14f5494c31022b6b1 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,632 @@ +{ + "layout_id": 25, + "style_id": 12, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5981429586627733, + -5.160531516958579, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d1e42840abdfd437b715ffa7b612f2697abc3de --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 41, + "style_id": 58, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.237250714763597, + -4.034739695011453, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961757989832 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..539fae65dcc54b56977853cfc59556872b620416 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 12, + "style_id": 60, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.368999903407052, + 1.475 + ], + "offset": [ + 1.189000048296474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_4_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.368999903407052, + 1.475 + ], + "offset": [ + 1.189000048296474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_4_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6689151595907084, + -4.965617544880875, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..306adb5db8a04d938536149817628b955b047962 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 54, + "style_id": 14, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.9672856114669979, + 1.17 + ], + "offset": [ + 1.161571194266501, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9672856114669979, + 1.17 + ], + "offset": [ + 1.161571194266501, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.820243058408323, + -4.697446674083732, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eab8348a5e4d9321f8d10b57562411bce7300543 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 14, + "style_id": 20, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.084847445472023, + -3.133664143913383, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a888fcf3563798d7cbb8e24f1806a9cc9a9b140 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,383 @@ +{ + "layout_id": 34, + "style_id": 34, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.4777400343648113, + 1.1786 + ], + "offset": [ + -0.3225999826948387, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.4777400343648113, + 1.1786 + ], + "offset": [ + -0.3225999826948387, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.819073348890775, + -2.6895365723507707, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba9105e9f5ca2ce6e275a9fe7ebf3251d2935c88 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 26, + "style_id": 11, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7403288174807134, + -1.857515569507085, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d8606988581c8982f2cf53c82e7218679ce956d --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 56, + "style_id": 48, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.5695186249226774, + 1.0596050000000001 + ], + "offset": [ + 1.7993762351231624e-05, + 0.2725000000000001, + 0.4600015 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.5695186249226774, + 1.0596050000000001 + ], + "offset": [ + 1.7993762351231624e-05, + 0.2725000000000001, + 0.4600015 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0969267069713604, + -4.396323214509986, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853826749327212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a7ada45b1cce2b3be794c15846710ee28db3d5c --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 57, + "style_id": 54, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -3.5197598515913135, + -5.409982763885739, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707962925663537 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a55bf725b627d29cb6ec6f53b321495675ead7b --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 11, + "style_id": 58, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_dining_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1462707675490427, + -1.5485881252647034, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 2.0281593271498366e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d2b4ca7a0d3433a04ac20a80167b46869c269ba --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 13, + "style_id": 54, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6140076047070528, + -3.556935321861482, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..424e350b7475a9966551c9866196e993c9a7da7d --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 26, + "style_id": 46, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7535633235648465, + -1.8664722956287327, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9f5213d8dc86dde17a57f5d3a63bef76ef5d4f6 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,632 @@ +{ + "layout_id": 25, + "style_id": 26, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9502067612841723, + -5.640392996785337, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963610234394 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f06de72bcd6256889c98da96da13f39b1a75f8a5 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 42, + "style_id": 12, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.966824904453115, + 0.59421 + ], + "offset": [ + 0.23543999999999987, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.966824904453115, + 0.59421 + ], + "offset": [ + 0.23543999999999987, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.648590998540436, + -4.310076605684472, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4322c44de85c25dfbb660d1d6484ced03be2e0c5 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,632 @@ +{ + "layout_id": 25, + "style_id": 59, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.272608009694128, + -5.612846984062814, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963610234394 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e28caaa0d65ce2911549dae95eddd900066cf7d3 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 54, + "style_id": 21, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 3.2415704209563443, + 1.17 + ], + "offset": [ + -0.02442878952182781, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 3.2415704209563443, + 1.17 + ], + "offset": [ + -0.02442878952182781, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.052569625962071, + -4.709298014015416, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da32497dbf5c41e79babf8ffe668f74fbc37bf3a --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 19, + "style_id": 44, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6671887464261625, + -3.992646070367068, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99f09dc3157d3d1b2899607e24d119a843f816c6 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 45, + "style_id": 14, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.238231434496536, + -2.5045934906064162, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8d3a05a967005e39b97668761335c1347649c44 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 48, + "style_id": 32, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.35327346476580535, + -4.841270171605079, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.282879601290039 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c58d6bf6b582405a0e0e2fe513cebf5486ed2e1 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 12, + "style_id": 26, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_5_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_5_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_5_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.679247726534306, + -5.996633629084331, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963610234394 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97d95638b13a39489372a4a36967754c9227c7ec --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 24, + "style_id": 23, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.559722295888907, + 1.95 + ], + "offset": [ + -1.1201388520555464, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.559722295888907, + 1.95 + ], + "offset": [ + -1.1201388520555464, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.973707139478797, + -4.249025165081173, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76335ee0bccdd9e88ed294f70d91536b2b52edf5 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 14, + "style_id": 21, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3543145647545303, + -3.097283483387122, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..611062dcdcdbda7e3f9d2984dbd74460deec7ea9 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 54, + "style_id": 52, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 2.0555704371680164, + 1.17 + ], + "offset": [ + -0.6174287814159918, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 2.0555704371680164, + 1.17 + ], + "offset": [ + -0.6174287814159918, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_4_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.776702592213183, + -4.645788869386093, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..821a1d107fdbcd2316ea12b5766ac2611f168122 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 48, + "style_id": 55, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 2.6940363732921537, + 1.464295 + ], + "offset": [ + -0.29947281335392306, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 2.6940363732921537, + 1.464295 + ], + "offset": [ + -0.29947281335392306, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.349606787449085, + -4.118207325122607, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.282879601290039 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba0788e8118bee15dbb8a754c5aa3f93564cb8d9 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 41, + "style_id": 60, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.74889388417508, + -4.084936107083059, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961757989832 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c880f2fb68291ce8defd48dc758384937ced5e01 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 30, + "style_id": 45, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4971140173374113, + -4.3298282472469305, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..596050c7041c5a8a01fbaf345bdc18b564dc35fd --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 27, + "style_id": 17, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.035000240062958, + 0.688 + ], + "offset": [ + -0.6579998799685209, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.035000240062958, + 0.688 + ], + "offset": [ + -0.6579998799685209, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "counter_3_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.242222021165082, + -3.9880661394019636, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a2aee69702e9567c73a809b5cb5accf99c19911 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 57, + "style_id": 15, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -3.054785664930175, + -5.382347611497967, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707962925663537 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7d65eca1fa85f39c4fd1251d5bc87c119c91395 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 13, + "style_id": 44, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "dining_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.051743099606888, + -3.539243925851284, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fca03fdb6ab55f6fdb25d5634250ed843c07113d --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 26, + "style_id": 23, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.988, + 0.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 1.988, + 0.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6054191709284054, + -1.8103190830762912, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6dfabd82619d902e9584fe67ca20c81452fa080f --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,386 @@ +{ + "layout_id": 37, + "style_id": 14, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.5830526728580634, + 0.42099999999999993 + ], + "offset": [ + 1.5560476018805502e-08, + 0.31200000000000006, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5830526728580634, + 0.42099999999999993 + ], + "offset": [ + 1.5560476018805502e-08, + 0.31200000000000006, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.0728354182773385, + -2.549142777307838, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93c9d9ac6631bf107acef5baf71f828d296a58e6 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 35, + "style_id": 49, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_1_stool_group_1", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.084813848768997, + 0.65 + ], + "offset": [ + 0.6041430756155015, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_1_stool_group_1" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.084813848768997, + 0.65 + ], + "offset": [ + 0.6041430756155015, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_stool_group_1", + "dining_table": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.306586170336123, + -2.8889097754834694, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d99026af161b2875c940564dfca1078d288733c --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,383 @@ +{ + "layout_id": 34, + "style_id": 17, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5470954422275379, + 0.5636000000000001 + ], + "offset": [ + 0.3024000173050916, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.5470954422275379, + 0.5636000000000001 + ], + "offset": [ + 0.3024000173050916, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.8539739128839656, + -3.1576480477048268, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5ce3576672841d3133fb8c7ef5ca5a529c2be6d --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 38, + "style_id": 25, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.9490000905343052, + 1.079 + ], + "offset": [ + -0.9949999547328474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.9490000905343052, + 1.079 + ], + "offset": [ + -0.9949999547328474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_4_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7591394588652, + -3.6326048424389206, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f40cbb5aaa1a41ffd50203fb4d6d47b6441d7424 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 14, + "style_id": 14, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6842591220832532, + -3.104317439503747, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..840c4f762bd235215bc01078ecec86e3dbf9fac1 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 19, + "style_id": 52, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.19932799050948, + -3.99496207694101, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57826837a245056c0954879f03b48f15c8200c6c --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 54, + "style_id": 50, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 2.0555704371680164, + 1.17 + ], + "offset": [ + -0.6174287814159918, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 2.0555704371680164, + 1.17 + ], + "offset": [ + -0.6174287814159918, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_4_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.58407134242018, + -4.70731067618166, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4b35f1b869adfc0730745512025ed7a7d79bb63 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 13, + "style_id": 37, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7597329383932647, + -3.498948111492104, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..592c7713342ac746ed0add0b61ee2f2736d3bedb --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 41, + "style_id": 18, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.269258643568203, + -4.037711759986694, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961757989832 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22bb4d6a4bf0d13991701782808fd00720c15c80 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 21, + "style_id": 24, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.328218723105834, + -3.4447644464131586, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e2adebb41c75780ba06df61dbc81280f8c4d73 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 19, + "style_id": 23, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.32770982709595, + -4.010958568340805, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff79a19cfafce1c07498598ac4ec22a5ecb01e2d --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 30, + "style_id": 11, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.343134531937077, + -4.281898792643861, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..134fc73d0bf4109e45fd367936245544e76d8426 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 19, + "style_id": 45, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.329097384069567, + -3.94839119799313, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1eaab3d8e3877a623630212d721a814dd4785a61 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 24, + "style_id": 34, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.554770034487567, + 1.95 + ], + "offset": [ + -1.1226149827562164, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.554770034487567, + 1.95 + ], + "offset": [ + -1.1226149827562164, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.018892569147036, + -4.173558687740391, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..239b7204e484daa66c7a641b2bbcd0b2ce1b6e5d --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 42, + "style_id": 25, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0240002650099123, + 1.242 + ], + "offset": [ + -0.7959998674950439, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0240002650099123, + 1.242 + ], + "offset": [ + -0.7959998674950439, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_4_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.675169030200196, + -4.8954536886913145, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e10b31b7c62681df70d6cf9a0843d812273d566a --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 54, + "style_id": 16, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.9672856114669979, + 1.17 + ], + "offset": [ + 1.161571194266501, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9672856114669979, + 1.17 + ], + "offset": [ + 1.161571194266501, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8781129912084977, + -4.729737024191643, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..444520d26f6720f5b5159cea6131c11f3c793222 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 41, + "style_id": 50, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.079200653736116, + -4.090643104142353, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961757989832 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..892c33706cd8c75fa96687f9945a71ae5fb74dc9 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 45, + "style_id": 56, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.775999953911148, + 1.04 + ], + "offset": [ + -0.6370000230444259, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.775999953911148, + 1.04 + ], + "offset": [ + -0.6370000230444259, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2970914288729485, + -3.8975632323734657, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27e4548ed4515d4bb3becbe5f74a5bf5d051fba1 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 23, + "style_id": 11, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.363534150860862, + -3.8150931627441618, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4cea22733899e07c69c979dc7b65e1718d524edc --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,392 @@ +{ + "layout_id": 55, + "style_id": 56, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.5305872589961047, + 1.16985 + ], + "offset": [ + 0.33041187050194765, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.5305872589961047, + 1.16985 + ], + "offset": [ + 0.33041187050194765, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0877711159482573, + -3.898845054017624, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd45b79503bcbd24291b50e4d39ed6a2b9024de5 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 16, + "style_id": 46, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.7197751621904389, + -2.9230414632211836, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185104363653 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..244955dd818d18c124b0884d41e453c8064da0bd --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 45, + "style_id": 22, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.775999953911148, + 1.04 + ], + "offset": [ + -0.6370000230444259, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.775999953911148, + 1.04 + ], + "offset": [ + -0.6370000230444259, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2170214287926395, + -3.837798203215607, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b37ee68ef9418c097266d938e069a56e057874c0 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 19, + "style_id": 20, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.357036270766795, + -4.018341699925028, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3db9c993b5fe9376186b8ab30652757fab93254d --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 17, + "style_id": 57, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1988696750843704, + -3.701185118478438, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981459128913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cf87fcceb68f37ac0dd3200687465437531ad19 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 13, + "style_id": 54, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6817533420378699, + -3.529399424222131, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ff0f42d90c2b9e5689a877e0219c9c21a4b88ec --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 31, + "style_id": 48, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.785920527461907, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.785920527461907, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.292679376120454, + -3.375341704735286, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb21b9af469aa1ac8a9f8bcf45ae3bae83eca0e8 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 23, + "style_id": 53, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3770479823220168, + -3.833869757966008, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51ad68a5b6258358e00911e18b861c0db05e410f --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 53, + "style_id": 53, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.992006703352873, + -1.5538827275290148, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283023098423885 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c4a3d7eb81771b05c3b1ad61e3807dbb33966a7 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 13, + "style_id": 17, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7024923081085155, + -3.580471494440373, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..110620fe136808264fdb03cb92464377374fa7f6 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 60, + "style_id": 40, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_5_left_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.719407894630542, + 0.394049 + ], + "offset": [ + -0.915365052684729, + 0.0, + 0.591655 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "counter_5_left_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.719407894630542, + 0.394049 + ], + "offset": [ + -0.915365052684729, + 0.0, + 0.591655 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "counter_5_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.6131627352434664, + -3.191014122938507, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283184935776305 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b64994d2ca2b7736ae6cafb27c1469444a4a8f39 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 42, + "style_id": 52, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0240002650099123, + 1.242 + ], + "offset": [ + -0.7959998674950439, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0240002650099123, + 1.242 + ], + "offset": [ + -0.7959998674950439, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_4_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6923869013107118, + -5.009882951285977, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..59f901122427a34d63c946a26e212ebef0d954e1 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 14, + "style_id": 22, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2481697907604814, + -3.179037728222015, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee7d93d55fe63b3e59772d634cee2f78f32cc6c9 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 14, + "style_id": 18, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2111985104495835, + -3.1535272767227043, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e9093270bec424d9acba8a64d1047216ee7a2b8 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,392 @@ +{ + "layout_id": 55, + "style_id": 59, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.756634755979873, + 1.16985 + ], + "offset": [ + -0.21738812201006352, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.756634755979873, + 1.16985 + ], + "offset": [ + -0.21738812201006352, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4363784019402304, + -3.97927399287958, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f017c8240a0c8ee64b79cc5a4cf503b66d2fcaa2 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 48, + "style_id": 31, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.38020226954053193, + -4.673201868886753, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.282879601290039 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99586f7ba53693a8b6eacd980250d6348e0e9013 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 27, + "style_id": 15, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.035000240062958, + 0.688 + ], + "offset": [ + -0.6579998799685209, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 1.035000240062958, + 0.688 + ], + "offset": [ + -0.6579998799685209, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "counter_3_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.098653946005312, + -4.009221064855184, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5002984d8245c29ed55f656a5b5d609c91cde19e --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 16, + "style_id": 43, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.380000008112611, + 0.976 + ], + "offset": [ + -0.7249999959436946, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.380000008112611, + 0.976 + ], + "offset": [ + -0.7249999959436946, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.701900621467967, + -4.4165669986681415, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185104363653 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb5f7d1a56f3648be31e98c38e4f74c9190be9e1 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 48, + "style_id": 56, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 2.695127743773148, + 1.464295 + ], + "offset": [ + 0.29892712811342603, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 2.695127743773148, + 1.464295 + ], + "offset": [ + 0.29892712811342603, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.3403821325359107, + -3.5411616120570786, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.282879601290039 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87c1bd08b8c21470f02c61b4b05cf3673cc23f53 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 28, + "style_id": 38, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3986596669341687, + -3.416726654421895, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee6817202563d178d75614091ed8119cf8a08918 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 41, + "style_id": 50, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1817100954071424, + -4.1056101353605765, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961757989832 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a126a4321082a63dba924ac9223705c4e0af1480 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,383 @@ +{ + "layout_id": 34, + "style_id": 58, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8362000346104574, + 1.1786 + ], + "offset": [ + -0.9318999826947714, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8362000346104574, + 1.1786 + ], + "offset": [ + -0.9318999826947714, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_4_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.836608054116589, + -2.0835474495401063, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..096dadb89c7a4ff31dd013187ba0163d849b9c71 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 30, + "style_id": 31, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7578759149004584, + -4.323438752912171, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7976cd5507c1b3c3a8c30082e148505923c23369 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 51, + "style_id": 45, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.501481925872127, + -4.576649708301716, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853798290089208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbac8b3d8e8fc4b741e70a24ae50a9820aed3b49 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,416 @@ +{ + "layout_id": 58, + "style_id": 35, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5807443104209857, + 0.911783 + ], + "offset": [ + 0.16542884478950715, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.5807443104209857, + 0.911783 + ], + "offset": [ + 0.16542884478950715, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.246793348537168, + -3.6893862042420724, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853830325605815 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d1cb3a516123053c90b3b1596e2f8ea7b42abd --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 56, + "style_id": 21, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.740462575895816, + 1.604605 + ], + "offset": [ + 0.9376082120520923, + 2.0816681711721685e-17, + 0.4600015 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.740462575895816, + 1.604605 + ], + "offset": [ + 0.9376082120520923, + 2.0816681711721685e-17, + 0.4600015 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2981146406124586, + -4.375132285306334, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853826749327212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4905848d3cdb1046e62c28218400d6588f096ddd --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 45, + "style_id": 36, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2995246740671436, + -2.7143578557955, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca7aeff6e890c6e12e4d47a5c37e4078730afcbf --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 49, + "style_id": 26, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_4_room", + "dining_table": "counter_5_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.787738669287581, + -6.385508980802172, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853830286373852 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c383c2888d026744dfac78127ac956325bd33dbe --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 45, + "style_id": 36, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.9939999539108983, + 1.04 + ], + "offset": [ + -0.028000023044550737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.9939999539108983, + 1.04 + ], + "offset": [ + -0.028000023044550737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2363509453819608, + -3.2555094232371466, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1e8c29fb8f36a904d1e42e1a0aa6045407e03e7 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 42, + "style_id": 56, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.7056163388870371, + 0.59421 + ], + "offset": [ + 0.31300013250472913, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.7056163388870371, + 0.59421 + ], + "offset": [ + 0.31300013250472913, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.665852035197704, + -3.9914100153353878, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..befcfe943ab57324bdf5e737ca3b8771f9e8b22c --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 19, + "style_id": 41, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9051827609383327, + -4.059779801927232, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e1be0bba2d829640ddd7964583fcecf2c1a588f --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 26, + "style_id": 26, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.988, + 0.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 1.988, + 0.6 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7162904125500202, + -1.766269484396353, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecd49ecaec04ee379d060d21994b74c78311d431 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 57, + "style_id": 29, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -3.062017852734421, + -5.45202552812969, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707962925663537 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5eb080fcb02a63b5a8469fa775a9cdde142fdc3 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 23, + "style_id": 29, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.101825201648987, + -3.8955647627050913, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25f68d98193c565d556e2531e0025328c417159e --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 45, + "style_id": 36, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.775999953911148, + 1.04 + ], + "offset": [ + -0.6370000230444259, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.775999953911148, + 1.04 + ], + "offset": [ + -0.6370000230444259, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2322196413276927, + -3.892253389755356, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ddad8787f1efda2cb31703a9d787146787bfae16 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,386 @@ +{ + "layout_id": 37, + "style_id": 59, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.46967234525388524, + 1.045 + ], + "offset": [ + 0.6250000155604067, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.46967234525388524, + 1.045 + ], + "offset": [ + 0.6250000155604067, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.086140838023112, + -3.169119044603456, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a30df2772b65db246ed048c9030cf8839ba2ec3e --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 23, + "style_id": 27, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.404177925377022, + -3.8417518087578726, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74d2f8f73f97217e85ff299abcb902db52e65c42 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 30, + "style_id": 42, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7704269466092346, + -4.3628268679083675, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12620c183b43bd55a65d9b77140508a1048d02c0 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 45, + "style_id": 33, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2580115734131745, + -2.7099750015451884, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1be3bd87f3580fac7051fd8dadc70752ba60c12e --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 12, + "style_id": 60, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3250000965929507, + 1.475 + ], + "offset": [ + -1.2109999517035246, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3250000965929507, + 1.475 + ], + "offset": [ + -1.2109999517035246, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.740061676303054, + -2.64365201867735, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0dae3fe1c73adf9e7b1c61a05af36d854f94b0d7 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,416 @@ +{ + "layout_id": 58, + "style_id": 30, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_2_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.911556, + 0.911783 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_2_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.911556, + 0.911783 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_2_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9547100508507995, + -3.713525249179031, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853830325605815 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af02192c74a66d81696e0603e3ec081c52b9e860 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 21, + "style_id": 26, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6429577130432516, + -2.8397620519625644, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415925661670165 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38aba38771b7a3c163817e797ed7a62f132c711d --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 33, + "style_id": 12, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2264729023388594, + 1.1661 + ], + "offset": [ + 1.2867635488305698, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.2264729023388594, + 1.1661 + ], + "offset": [ + 1.2867635488305698, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0330795242138948, + -3.464990900390678, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5709472799547157 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03a3d6b128fab8b7638da93b28ee0cf4630947f2 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,632 @@ +{ + "layout_id": 25, + "style_id": 24, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.541901698386554, + -4.913698075658501, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba1764adea6eb41472c72bccc724d13c31056400 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 53, + "style_id": 23, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5706180912724867, + 1.259164 + ], + "offset": [ + 0.9531629543637566, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.5706180912724867, + 1.259164 + ], + "offset": [ + 0.9531629543637566, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.988514999074276, + -0.9889824826237266, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283023098423885 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..daf8cedd40fde7e44bc10786b39db79d69f8fcab --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 15, + "style_id": 53, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5463995002470721, + 1.47 + ], + "offset": [ + 0.6190000467904193, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.5463995002470721, + 1.47 + ], + "offset": [ + 0.6190000467904193, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5439848011623343, + -3.680677607148891, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce772883cd863f3d0e652dcbabb6cee8b8a9dd35 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 16, + "style_id": 45, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 2.8139999918874192, + 0.976 + ], + "offset": [ + 0.008000004056290422, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 2.8139999918874192, + 0.976 + ], + "offset": [ + 0.008000004056290422, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.7172255474629474, + -3.821536190082198, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185104363653 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a31794d797c8c0dc41c04c31f8d09f8b6a23b035 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 44, + "style_id": 25, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4226404940511097, + -5.651546038825735, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707969669156234 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a743aeeee83e30f9c4d5a831b19f2479350e4dc4 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 57, + "style_id": 18, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -3.509527749701654, + -5.428845715141633, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707962925663537 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43e61684d6f4c38f65b7ad9aa1249de32697f1d1 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 31, + "style_id": 22, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5946574848598825, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5946574848598825, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.266700666222999, + -3.4131522554645497, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b422a7c210ce815a777e6f95324eb0d94627ab81 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 38, + "style_id": 24, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2169999094661073, + 1.079 + ], + "offset": [ + 0.8610000452669464, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2169999094661073, + 1.079 + ], + "offset": [ + 0.8610000452669464, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.689917922059831, + -5.579345917377906, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fda31b0a33fd099e9b9e5284d9a9dbb4da5580a2 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 11, + "style_id": 51, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "dining_dining_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1824985230467533, + -1.29445999150235, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 2.0281593271498366e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..437979c2f29945c84b14223f82d1026892583825 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 14, + "style_id": 42, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7029569503821675, + -3.170997486497152, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18ccea41db49086c9cfce2fa2429e06bbf56c48f --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 24, + "style_id": 16, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.616348209884344, + 1.95 + ], + "offset": [ + -1.091825895057828, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 1.616348209884344, + 1.95 + ], + "offset": [ + -1.091825895057828, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.9696863379893, + -4.183652917910827, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c298774f199734e8a1296dcb0ac8f3521a9a699 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 30, + "style_id": 38, + "object_cfgs": [ + { + "name": "cup", + "obj_groups": [ + "cup" + ], + "graspable": true, + "washable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bowl", + "obj_groups": [ + "bowl" + ], + "graspable": true, + "washable": true, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room" + }, + "ref_obj": "cup", + "size": [ + 0.5, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cup inside the bowl on the dining table and move the bowl to any counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_table": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7137110152183563, + -4.384327724207568, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/meta/embodiment.json b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/meta/episodes.jsonl b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21e93bf39d85c27a954ebf057a25134fd8c1c616 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/episodes.jsonl @@ -0,0 +1,104 @@ +{"episode_index": 0, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 658} +{"episode_index": 1, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1198} +{"episode_index": 2, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1192} +{"episode_index": 3, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1429} +{"episode_index": 4, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 994} +{"episode_index": 5, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1190} +{"episode_index": 6, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1098} +{"episode_index": 7, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 742} +{"episode_index": 8, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1247} +{"episode_index": 9, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1508} +{"episode_index": 10, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1153} +{"episode_index": 11, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1194} +{"episode_index": 12, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 682} +{"episode_index": 13, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 972} +{"episode_index": 14, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1054} +{"episode_index": 15, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1388} +{"episode_index": 16, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1183} +{"episode_index": 17, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1143} +{"episode_index": 18, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1000} +{"episode_index": 19, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 861} +{"episode_index": 20, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1215} +{"episode_index": 21, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1080} +{"episode_index": 22, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1207} +{"episode_index": 23, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1122} +{"episode_index": 24, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1093} +{"episode_index": 25, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1398} +{"episode_index": 26, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1044} +{"episode_index": 27, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1187} +{"episode_index": 28, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 997} +{"episode_index": 29, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1194} +{"episode_index": 30, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1296} +{"episode_index": 31, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 912} +{"episode_index": 32, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1140} +{"episode_index": 33, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1122} +{"episode_index": 34, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1164} +{"episode_index": 35, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1177} +{"episode_index": 36, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 842} +{"episode_index": 37, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1019} +{"episode_index": 38, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1216} +{"episode_index": 39, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1417} +{"episode_index": 40, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1026} +{"episode_index": 41, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1186} +{"episode_index": 42, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1095} +{"episode_index": 43, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1395} +{"episode_index": 44, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1002} +{"episode_index": 45, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1357} +{"episode_index": 46, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 896} +{"episode_index": 47, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1130} +{"episode_index": 48, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 821} +{"episode_index": 49, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1400} +{"episode_index": 50, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1234} +{"episode_index": 51, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 876} +{"episode_index": 52, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 843} +{"episode_index": 53, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1022} +{"episode_index": 54, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1132} +{"episode_index": 55, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1136} +{"episode_index": 56, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1061} +{"episode_index": 57, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1325} +{"episode_index": 58, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 837} +{"episode_index": 59, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1270} +{"episode_index": 60, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1316} +{"episode_index": 61, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 872} +{"episode_index": 62, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 951} +{"episode_index": 63, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1398} +{"episode_index": 64, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1242} +{"episode_index": 65, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1276} +{"episode_index": 66, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1229} +{"episode_index": 67, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1018} +{"episode_index": 68, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1088} +{"episode_index": 69, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1135} +{"episode_index": 70, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1201} +{"episode_index": 71, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1237} +{"episode_index": 72, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 951} +{"episode_index": 73, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1481} +{"episode_index": 74, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1032} +{"episode_index": 75, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1419} +{"episode_index": 76, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 944} +{"episode_index": 77, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1564} +{"episode_index": 78, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1321} +{"episode_index": 79, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 768} +{"episode_index": 80, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 948} +{"episode_index": 81, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1306} +{"episode_index": 82, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 970} +{"episode_index": 83, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1312} +{"episode_index": 84, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1049} +{"episode_index": 85, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 749} +{"episode_index": 86, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1120} +{"episode_index": 87, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1152} +{"episode_index": 88, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1172} +{"episode_index": 89, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1051} +{"episode_index": 90, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1072} +{"episode_index": 91, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 812} +{"episode_index": 92, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 775} +{"episode_index": 93, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1199} +{"episode_index": 94, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 953} +{"episode_index": 95, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1141} +{"episode_index": 96, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1437} +{"episode_index": 97, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1356} +{"episode_index": 98, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1005} +{"episode_index": 99, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1280} +{"episode_index": 100, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1366} +{"episode_index": 101, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1007} +{"episode_index": 102, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1334} +{"episode_index": 103, "tasks": ["Place the cup inside the bowl on the dining table and move the bowl to any counter."], "length": 1012} diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f92071edfa98cecb3c05c164514d877d2882c0e9 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,104 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43325669195427685]], [[0.42375269987097913]], [[0.38158256228090803]]], "std": [[[0.26155834755717455]], [[0.24701379733717338]], [[0.24790181583949047]]], "count": [129]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5889440714796548]], [[0.5508543242689214]], [[0.5223839765190081]]], "std": [[[0.2349178472687748]], [[0.23629045123782458]], [[0.24417657319900565]]], "count": [129]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5361621894378361]], [[0.4988093051310277]], [[0.47111773962741893]]], "std": [[[0.25007555058815084]], [[0.25397597675997824]], [[0.2657301410158675]]], "count": [129]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [658]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [658]}, "observation.state": {"min": [0.9673080090792776, -6.16912664207881, 0.6999952019619088, 0.0, 0.0, -1.0, 1.0698254726548839e-07, 0.13012080207879584, -0.2759277569460048, 0.29647108608820516, -0.9991533756256104, -0.16129626333713531, -0.1714557409286499, 0.00022289091430138797, 0.0015729009504913136, -0.039975428549019594], "max": [3.7084985070634113, -4.786345609667419, 0.7004042179679927, 0.0, 0.0, 1.0, 0.07291211932897568, 0.6308543752113267, 0.0032695206869606253, 0.6089124989062592, 0.9868927597999573, 0.16350317001342773, 0.11830167472362518, 0.32876837253570557, 0.04002225371017146, -0.002909634762589805], "mean": [2.7818098992708395, -5.202069683988075, 0.70013208395452, 0.0, 0.0, 0.13955613309489195, 0.009775089434823452, 0.3687855333059139, -0.21645267471418503, 0.4386325660300628, -0.8707673082235736, 0.031748690016816815, 0.0036981063089596205, 0.1853827655012286, 0.020157830322312935, -0.019698016131125737], "std": [1.1470338068239312, 0.37380688492119885, 0.0001260022287607185, 0.0, 0.0, 0.9899503201171864, 0.020662140934116453, 0.1548244521706435, 0.05368088070887406, 0.09111608174693066, 0.4268807592777571, 0.0632659926610623, 0.06529435518338321, 0.12602677831231351, 0.015221807147856157, 0.01525637287519613], "count": [658]}, "action": {"min": [-0.6857142857142858, -1.0, -0.13142857142857142, 0.0, -1.0, -1.0, -0.6214285714285714, -0.5071428571428571, -0.24285714285714288, -0.21714285714285717, -0.1657142857142857, -1.0], "max": [1.0, 1.0, 0.13428571428571429, 0.0, 1.0, 0.7000000000000001, 0.5785714285714286, 0.6, 0.2571428571428571, 0.12857142857142856, 0.16285714285714287, 1.0], "mean": [0.12040816326530614, 0.006936604429005627, -0.00025184541901867083, 0.0, -0.5227963525835866, -0.015078158923143747, -0.023219713417281778, -0.020538428137212333, 0.0028614850195397266, 0.003386886669561439, -0.002479374728614851, 0.21580547112462006], "std": [0.3141542588428359, 0.321642044633833, 0.03307773700754803, 0.0, 0.8524576081690497, 0.32366124054378753, 0.15605891320742182, 0.21997121387197457, 0.04720472505604371, 0.041690501124266144, 0.03092067745507195, 0.9764363771555566], "count": [658]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024316109716892242], "std": [0.15402868390083313], "count": [658]}, "next.done": {"min": [false], "max": [true], "mean": [0.001519756838905775], "std": [0.038954424370748614], "count": [658]}, "timestamp": {"min": [0.0], "max": [32.85], "mean": [16.425], "std": [9.497400960262759], "count": [658]}, "frame_index": {"min": [0], "max": [657], "mean": [328.5], "std": [189.9480192052552], "count": [658]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [658]}, "index": {"min": [0], "max": [657], "mean": [328.5], "std": [189.9480192052552], "count": [658]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [658]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.054901960784313725]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5551514638721868]], [[0.5459605886569336]], [[0.47677332980269155]]], "std": [[[0.15153112140170252]], [[0.14237280091712132]], [[0.1630517334378049]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5937698769567095]], [[0.5690645191181942]], [[0.5384631501526391]]], "std": [[[0.23154442454652419]], [[0.2395471868490543]], [[0.25134306185778577]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5851908389467048]], [[0.5609432064599142]], [[0.532663870875667]]], "std": [[[0.22573786525260123]], [[0.23464011358518275]], [[0.24594566249486657]]], "count": [203]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1198]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1198]}, "observation.state": {"min": [1.0029086391993056, -4.035068763457211, 0.6999979095519033, 0.0, 0.0, 0.6802799701690674, 0.7070065140724182, 0.1620505227122806, -0.16730199928992562, 0.26014568216380396, -0.9993237853050232, -0.03276340663433075, -0.168888658285141, 0.002357053803279996, 0.004160090411492718, -0.03998472162284907], "max": [2.2373285444527395, -0.8984363844666616, 0.7005007550563107, 0.0, 0.0, 0.7072070837020874, 0.7329524159431458, 0.4920582918328691, 0.04146538404040445, 0.5949022368459005, -0.8669492602348328, 0.14811892807483673, 0.11805341392755508, 0.49130865931510925, 0.04003236658158651, -0.003826105140763473], "mean": [1.9357298397165987, -3.2047160128254095, 0.7000511926411855, 0.0, 0.0, 0.6987018104586658, 0.7152220303307789, 0.39110156130773815, -0.040034848380073706, 0.38673003655748284, -0.9358079769277016, 0.04367172414241032, 0.00664378735611918, 0.2728196184309464, 0.020311215910145935, -0.019048425793557314], "std": [0.42711875389923504, 1.3078815624820035, 0.00011314515603001893, 0.0, 0.0, 0.011897920787109842, 0.011474594848088954, 0.08506457500641379, 0.05937154636485355, 0.08306562294772216, 0.04947264534056572, 0.049536951113906554, 0.0859296664205342, 0.18866946881612176, 0.014985597768882948, 0.015642983622197727], "count": [1198]}, "action": {"min": [-0.07142857142857144, -0.5571428571428572, -0.03428571428571429, 0.0, -1.0, -0.8571428571428572, -0.4285714285714286, -0.36428571428571427, -0.06285714285714286, -0.09142857142857143, -0.09714285714285714, -1.0], "max": [1.0, 0.7642857142857143, 0.0, 0.0, 1.0, 0.36428571428571427, 0.5642857142857142, 0.6357142857142857, 0.13714285714285715, 0.27714285714285714, 0.08, 1.0], "mean": [0.08827212020033394, 0.03346052945385164, -0.0016861435726210348, 0.0, -0.5442404006677797, -0.00520510374433579, -0.0015561650369663748, -0.006612210827569769, 0.005688051514428817, 0.003076556165036968, 0.00012401621750536543, 0.24373956594323873], "std": [0.2335446199820004, 0.1818237960646285, 0.006004872229903021, 0.0, 0.838929309465922, 0.1476715049349319, 0.0974055580375144, 0.13877367834238624, 0.025088565686972982, 0.028423050791612448, 0.017038345645698057, 0.9698407209401985], "count": [1198]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013355592265725136], "std": [0.11479207873344421], "count": [1198]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008347245409015025], "std": [0.02887953905176326], "count": [1198]}, "timestamp": {"min": [0.0], "max": [59.85], "mean": [29.924999999999994], "std": [17.291634538122764], "count": [1198]}, "frame_index": {"min": [0], "max": [1197], "mean": [598.5], "std": [345.83269076245523], "count": [1198]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1198]}, "index": {"min": [658], "max": [1855], "mean": [1256.5], "std": [345.83269076245523], "count": [1198]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1198]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.07058823529411765]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.669976666820232]], [[0.6545761588290464]], [[0.5891104583947595]]], "std": [[[0.21271015306704844]], [[0.18550052631706412]], [[0.19401628311367344]]], "count": [202]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6363338789646428]], [[0.6089642198311197]], [[0.5724864206552922]]], "std": [[[0.2435408194737579]], [[0.21957422229596765]], [[0.20297674127227422]]], "count": [202]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6222270801909292]], [[0.5963110240772612]], [[0.5616363851243236]]], "std": [[[0.247625074421802]], [[0.2283505355982451]], [[0.2170810799420028]]], "count": [202]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1192]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1192]}, "observation.state": {"min": [0.9055252299655538, -4.965774954650811, 0.6999968126835528, 0.0, 0.0, -1.0, 0.0, 0.1322947198445893, -0.33349519654245885, 0.30067899252677843, -0.9931386709213257, -0.07852864265441895, -0.25503677129745483, 0.0013584803091362119, 0.004097616255411841, -0.0399895505412234], "max": [3.8743158680358367, -1.3668049814430097, 0.7000573971530496, 0.0, 0.0, 1.0, 0.05398081615567207, 0.6422532866117883, 0.10715995511074095, 0.5937082282895174, 0.9924653172492981, 0.24306422472000122, 0.18943394720554352, 0.2807157039642334, 0.04002351545886438, -0.004233956588026386], "mean": [3.0356580526432584, -3.871280131698327, 0.7000072285768281, 0.0, 0.0, -0.28821673774279205, 0.014254516328766441, 0.40625428529946006, -0.09596187480775781, 0.4123743964449671, -0.5985348595668806, 0.08831699161271521, -0.07569082825750913, 0.15721046764764157, 0.020792664379862102, -0.020251273623180376], "std": [1.1238475902529406, 1.594744129168191, 1.2888873425065155e-05, 0.0, 0.0, 0.9571749670961411, 0.023324296883750154, 0.13178238878963183, 0.13880457369057947, 0.07013179259361844, 0.7536922771172613, 0.09046159064835527, 0.12276551027984231, 0.1104770465906383, 0.016058079942191755, 0.01633268856751271], "count": [1192]}, "action": {"min": [-0.8, -1.0, -0.04, 0.0, -1.0, -0.5714285714285715, -0.37142857142857144, -0.29285714285714287, -0.11142857142857143, -0.1457142857142857, -0.1742857142857143, -1.0], "max": [1.0, 0.0, 0.16, 0.0, 1.0, 0.3428571428571429, 0.5928571428571429, 0.5571428571428572, 0.2, 0.13142857142857142, 0.04285714285714286, 1.0], "mean": [0.08028523489932887, -0.09672818791946307, 0.002437679769894535, 0.0, -0.5922818791946308, -0.006585570469798667, -0.016520853307766065, -0.006154122722914674, 0.0016442953020134243, -0.00028283796740172413, -0.0031327900287631775, 0.1493288590604027], "std": [0.23824735885046616, 0.2642716159565065, 0.01666547434380834, 0.0, 0.8057308332052817, 0.1345390757908211, 0.09858050371961145, 0.1212984611567841, 0.027620712228215535, 0.022973147440012342, 0.032793082869407415, 0.9887875868212269], "count": [1192]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01342281885445118], "std": [0.1150766983628273], "count": [1192]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008389261744966443], "std": [0.028952070346874827], "count": [1192]}, "timestamp": {"min": [0.0], "max": [59.55], "mean": [29.775000000000002], "std": [17.205031967421625], "count": [1192]}, "frame_index": {"min": [0], "max": [1191], "mean": [595.5], "std": [344.1006393484325], "count": [1192]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1192]}, "index": {"min": [1856], "max": [3047], "mean": [2451.5], "std": [344.1006393484325], "count": [1192]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1192]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6373884700132916]], [[0.5994754208351326]], [[0.5042391755759836]]], "std": [[[0.19446427089681592]], [[0.18574755488411365]], [[0.22216454143164074]]], "count": [232]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5744149384102037]], [[0.5509255732290643]], [[0.5128998313424069]]], "std": [[[0.18713899277127777]], [[0.1968853921991596]], [[0.20386111733473025]]], "count": [232]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5990675871399627]], [[0.5794536198531558]], [[0.5442505429611567]]], "std": [[[0.2044695315381671]], [[0.20917597420305833]], [[0.21540757273889588]]], "count": [232]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1429]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1429]}, "observation.state": {"min": [1.0756924327257786, -4.752540598573128, 0.6999960229208233, 0.0, 0.0, 0.7063196301460266, 0.7068288326263428, 0.11604243226821687, -0.3025129430422444, 0.2885187739858882, -0.9972513318061829, -0.17626145482063293, -0.15532705187797546, 8.261496986960992e-05, 0.0027769925054601913, -0.04000145070809638], "max": [3.936133077068757, -0.9815662039945874, 0.7001478136406157, 0.0, 0.0, 0.7073845267295837, 0.7078931331634521, 0.601880014270824, 0.004051450783198796, 0.6027569702214457, 0.9984018206596375, 0.2143651247024536, 0.06466563045978546, 0.3653835654258728, 0.040017602241755164, -0.002520242110696389], "mean": [2.851785805132448, -3.6181203416284022, 0.7000267126996874, 0.0, 0.0, 0.7069881672288589, 0.707225300366433, 0.3850132458169034, -0.20367089335348854, 0.4487447332106744, -0.8066541478715634, 0.05150823530521403, -0.060372221024796245, 0.17555855136176857, 0.018593632612265182, -0.017643650404109333], "std": [0.7663733794596549, 1.5511852073961852, 4.84918188049609e-05, 0.0, 0.0, 0.00021030015261562258, 0.00021016204990660965, 0.14423096150685152, 0.07680354993784987, 0.08946559261191098, 0.5333672598655405, 0.10173813351397566, 0.0524049451013174, 0.12088350116809016, 0.015485791366586833, 0.015998252316135157], "count": [1429]}, "action": {"min": [-0.4, -0.8357142857142857, 0.0, 0.0, -1.0, -0.5071428571428571, -0.4714285714285715, -0.42142857142857143, -0.09428571428571429, -0.12571428571428572, -0.14, -1.0], "max": [0.8785714285714286, 0.7428571428571429, 0.0, 0.0, 1.0, 0.5428571428571429, 0.5857142857142857, 0.4928571428571429, 0.12571428571428572, 0.1657142857142857, 0.04285714285714286, 1.0], "mean": [0.09377686693991798, -0.023942817154853534, 0.0, 0.0, -0.3799860041987404, -0.006947915625312409, -0.01347595721283616, -0.0052484254723583, 0.0013515945216435053, 0.000233929821053684, -0.0028351494551634524, 0.2932120363890833], "std": [0.2313703460685396, 0.26694163226400697, 0.0, 0.0, 0.9249922359744807, 0.12965018023756644, 0.11447887347903692, 0.1265131323851358, 0.01976139249329126, 0.023521950023858106, 0.020594957403792063, 0.9560474369593547], "count": [1429]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011196641251444817], "std": [0.10522013157606125], "count": [1429]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006997900629811056], "std": [0.026444287792429928], "count": [1429]}, "timestamp": {"min": [0.0], "max": [71.4], "mean": [35.7], "std": [20.625833316498998], "count": [1429]}, "frame_index": {"min": [0], "max": [1428], "mean": [714.0], "std": [412.51666632997996], "count": [1429]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1429]}, "index": {"min": [3048], "max": [4476], "mean": [3762.0], "std": [412.51666632997996], "count": [1429]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1429]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.054901960784313725]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6110719301513861]], [[0.6032886968705429]], [[0.5742055737220846]]], "std": [[[0.2688222108973921]], [[0.2871011414914446]], [[0.3124108855916648]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5653710705583986]], [[0.5425342813789534]], [[0.5244138451209955]]], "std": [[[0.25962686774328547]], [[0.2604619100126441]], [[0.26340269947648115]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5758864928786773]], [[0.5656886271388742]], [[0.5594003711386457]]], "std": [[[0.270459390536412]], [[0.27319656342535587]], [[0.27523789334287135]]], "count": [177]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [994]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [994]}, "observation.state": {"min": [1.416383517441443, -3.134417760437392, 0.6999970484769371, 0.0, 0.0, 0.6408359408378601, 0.7070286273956299, 0.09347431801032435, -0.25461223735484273, 0.2501296560519122, -0.9973030686378479, -0.05490574240684509, -0.20748622715473175, 0.0002754296292550862, 0.003195588986498107, -0.039978586032583203], "max": [2.0850433397952424, -0.7947969511284455, 0.7003998201116062, 0.0, 0.0, 0.7071849703788757, 0.7676777839660645, 0.5239140598276979, 0.11894822919390391, 0.6080920536749894, -0.9250247478485107, 0.20240017771720886, -0.02750755101442337, 0.34122323989868164, 0.04002467516155979, -0.0033528587034972537], "mean": [1.8443766184077812, -2.4192374670488883, 0.7000276022556338, 0.0, 0.0, 0.6852934565582506, 0.7271357721366153, 0.33510304758850257, -0.09404234132585708, 0.47935741669872434, -0.9593817294243596, 0.11447695529526868, -0.10854708161804698, 0.17083867163089586, 0.02031117155773031, -0.01928733279650647], "std": [0.3148661090686172, 1.037213609607594, 8.953614235217003e-05, 0.0, 0.0, 0.02992198794178828, 0.02740640074193577, 0.1201324714708377, 0.11211129964670247, 0.08626502465379712, 0.021023696085007648, 0.07541256043116679, 0.05014342874913751, 0.1298845063374897, 0.016088084356932247, 0.016673641144944323], "count": [994]}, "action": {"min": [-0.14285714285714288, 0.0, -0.08, 0.0, -1.0, -0.7357142857142858, -0.40714285714285714, -0.41428571428571426, -0.11714285714285716, -0.10857142857142858, -0.10857142857142858, -1.0], "max": [0.8714285714285716, 0.7214285714285715, 0.008571428571428572, 0.0, 1.0, 0.42142857142857143, 0.7785714285714286, 0.6642857142857144, 0.15428571428571428, 0.18, 0.21142857142857144, 1.0], "mean": [0.07178068410462778, 0.0480094854843346, -0.004872089680942798, 0.0, -0.670020120724346, -0.01246766312158665, 0.009665133659097453, -0.0055475711411325, 0.0026415636677206136, 0.001181373958033917, -0.003069847657372807, 0.16700201207243462], "std": [0.21089861475751592, 0.1369360385730387, 0.017755330985346818, 0.0, 0.7423429381522636, 0.1799807286736748, 0.151573864354907, 0.16519401274299048, 0.025328351819142284, 0.027482117441929108, 0.032487136577393314, 0.9859565548054228], "count": [994]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016096578910946846], "std": [0.12584704160690308], "count": [994]}, "next.done": {"min": [false], "max": [true], "mean": [0.001006036217303823], "std": [0.031702115204403886], "count": [994]}, "timestamp": {"min": [0.0], "max": [49.65], "mean": [24.825], "std": [14.347146928919353], "count": [994]}, "frame_index": {"min": [0], "max": [993], "mean": [496.5], "std": [286.94293857838704], "count": [994]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [994]}, "index": {"min": [4477], "max": [5470], "mean": [4973.5], "std": [286.94293857838704], "count": [994]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [994]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6287019946232186]], [[0.6390132864802307]], [[0.6183501705524413]]], "std": [[[0.22361791987920482]], [[0.20778651017647956]], [[0.24141002486366195]]], "count": [202]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6346679962993571]], [[0.6009000244614592]], [[0.552123765717708]]], "std": [[[0.20630545840410963]], [[0.20014516885431977]], [[0.2129450028990502]]], "count": [202]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6368779838027316]], [[0.6050499671872346]], [[0.5590727669640528]]], "std": [[[0.20935184062824175]], [[0.20244231630011753]], [[0.21359509682653835]]], "count": [202]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1190]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1190]}, "observation.state": {"min": [1.150319676604612, -2.6896324172154724, 0.6999949496790873, 0.0, 0.0, -1.0, 0.0, 0.24369002658957273, -0.24774383052686177, 0.3026527686120353, -0.99857497215271, -0.15056824684143066, -0.192519411444664, 0.0163284782320261, 0.0031079972822175106, -0.040063980824069284], "max": [3.9387688654354607, -0.7465355408790466, 0.7006171723555743, 0.0, 0.0, 1.0, 0.11657071858644485, 0.606430354206744, 0.13800682740934467, 0.6292456037247528, -0.6848266124725342, 0.6067696213722229, 0.36668434739112854, 0.4235173165798187, 0.04002525979035443, -0.0027412996067840236], "mean": [3.0078587375434855, -2.1439961112214756, 0.7002004174740522, 0.0, 0.0, 0.31848098831016475, 0.025185008258698523, 0.4730877124096113, -0.1254110376962578, 0.4914670206759857, -0.9067174187728337, 0.12341217312867903, 0.14323584494721203, 0.2126606097413587, 0.021407135934054546, -0.020231147383382355], "std": [1.1727954577924598, 0.672292470866806, 0.00018476126815164683, 0.0, 0.0, 0.9470369093610169, 0.032506590652565906, 0.09649220461476986, 0.09316358904239883, 0.11379665860506248, 0.07909792061624327, 0.20264371218216137, 0.17779056309487903, 0.13402042582620885, 0.014577992748967554, 0.015199675769210197], "count": [1190]}, "action": {"min": [-0.6642857142857144, -0.8285714285714285, -0.16285714285714287, 0.0, -1.0, -0.75, -0.4357142857142858, -0.5642857142857142, -0.17142857142857143, -0.43428571428571433, -0.26571428571428574, -1.0], "max": [1.0, 0.8357142857142857, 0.15714285714285714, 0.0, 1.0, 0.5285714285714286, 0.46428571428571436, 0.6357142857142857, 0.23428571428571432, 0.38857142857142857, 0.2571428571428571, 1.0], "mean": [0.0839435774309724, -0.03073829531812732, -0.004170468187274907, 0.0, -0.5042016806722689, 0.006212484993997582, 0.01091236494597839, -0.007070828331332553, 0.005442977190876352, 0.004074429771908763, -0.010316926770708282, 0.2235294117647059], "std": [0.23351128390586448, 0.2329514946087427, 0.029793730240147177, 0.0, 0.8635859338868738, 0.1662130295032803, 0.12808909541409244, 0.1702935966596086, 0.03872556191883729, 0.07496572096924646, 0.058807614330364535, 0.9746971848097765], "count": [1190]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01344537828117609], "std": [0.11517205089330673], "count": [1190]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008403361344537816], "std": [0.028976369158935575], "count": [1190]}, "timestamp": {"min": [0.0], "max": [59.45], "mean": [29.725], "std": [17.176164443786625], "count": [1190]}, "frame_index": {"min": [0], "max": [1189], "mean": [594.5], "std": [343.52328887573253], "count": [1190]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1190]}, "index": {"min": [5471], "max": [6660], "mean": [6065.5], "std": [343.52328887573253], "count": [1190]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1190]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45394680688501754]], [[0.42565576984417325]], [[0.389876731345036]]], "std": [[[0.2832508800859553]], [[0.2589677855071736]], [[0.2509167754756486]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.392153926569857]], [[0.3540112424364277]], [[0.33207019565767304]]], "std": [[[0.223242697386313]], [[0.22966979101183127]], [[0.24157788317707382]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4386776427907717]], [[0.4035917025822973]], [[0.38394931537325044]]], "std": [[[0.21758906585699742]], [[0.23115320840223322]], [[0.24542340102647994]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1098]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1098]}, "observation.state": {"min": [1.7401903850218257, -2.518998037303506, 0.6999953960019579, 0.0, 0.0, -0.7385395169258118, 0.6742101907730103, 0.14110753357327877, -0.09170912849404456, 0.29505379509732366, -0.9958720207214355, -0.18353500962257385, -0.28646618127822876, 0.010342678055167198, 0.002665660498878354, -0.03981638601127297], "max": [4.342240238652093, -1.4564195606155308, 0.7002988281324941, 0.0, 0.0, -0.5750569701194763, 0.8181132674217224, 0.810385981618869, 0.12613146784256113, 0.6045071396220315, -0.9499091506004333, 0.15687258541584015, 0.12810266017913818, 0.2425469011068344, 0.04001590161712138, -0.003003705650250249], "mean": [2.6077641211955473, -2.0064023066238166, 0.700065870329073, 0.0, 0.0, -0.6727719718966979, 0.735799915857871, 0.4721393294663737, 0.03379041965402175, 0.4369410508522007, -0.9783324675807537, -0.04697805425942704, -0.026654890179119872, 0.1354201607489263, 0.01839764679299893, -0.01755743497628984], "std": [1.1777648070986053, 0.32014012050092094, 8.211102666249697e-05, 0.0, 0.0, 0.05896770242314084, 0.049991314894785206, 0.23921893603985597, 0.07260908898861979, 0.098511391753869, 0.008911974286585064, 0.072199899320865, 0.1112037953635321, 0.06285705519876657, 0.015926987021223325, 0.016322836140318153], "count": [1098]}, "action": {"min": [-1.0, 0.0, -0.08857142857142856, 0.0, -1.0, -0.9714285714285714, -0.5142857142857143, -0.36428571428571427, -0.09714285714285714, -0.1742857142857143, -0.2, -1.0], "max": [1.0, 1.0, 0.3342857142857143, 0.0, 1.0, 0.6, 0.5785714285714286, 0.4357142857142858, 0.09142857142857143, 0.15714285714285714, 0.10571428571428572, 1.0], "mean": [0.02787535779339058, 0.0722417382253448, 0.007491543065313554, 0.0, -0.6794171220400729, -0.0065118397085610685, 0.0012425188654697173, -0.00522378350247202, 0.0024043715846994527, -0.0006921675774134756, 0.0025969294821753825, 0.2659380692167577], "std": [0.18247166304085125, 0.22710779616518156, 0.04591762500567905, 0.0, 0.7337522567452802, 0.24066667921491103, 0.10964376196238107, 0.15968069671468252, 0.019167155405060976, 0.03704139138385269, 0.029353199034085304, 0.9639901157902235], "count": [1098]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014571948908269405], "std": [0.11983157694339752], "count": [1098]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009107468123861566], "std": [0.030164836360071393], "count": [1098]}, "timestamp": {"min": [0.0], "max": [54.85], "mean": [27.425], "std": [15.848258316504898], "count": [1098]}, "frame_index": {"min": [0], "max": [1097], "mean": [548.5], "std": [316.965166330098], "count": [1098]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1098]}, "index": {"min": [6661], "max": [7758], "mean": [7209.5], "std": [316.965166330098], "count": [1098]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1098]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5619871407640273]], [[0.5508242135415319]], [[0.47821519878548635]]], "std": [[[0.19523224938786776]], [[0.19198759730033682]], [[0.21327649978386898]]], "count": [142]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5095472915763192]], [[0.4904038777702983]], [[0.444192742550778]]], "std": [[[0.17389915390477054]], [[0.17990113889571727]], [[0.19816161008814562]]], "count": [142]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5070248207444152]], [[0.4921579638557255]], [[0.4468081786401428]]], "std": [[[0.18848788141113149]], [[0.19140015821819115]], [[0.21230839755116476]]], "count": [142]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [742]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [742]}, "observation.state": {"min": [0.7815889068897294, -4.409233985735646, 0.6999954983842132, 0.0, 0.0, 0.698185920715332, 0.707104504108429, 0.09647583791853254, -0.12443634920241209, 0.288447360219073, -0.9964475631713867, -0.027765661478042603, -0.17337189614772797, 0.041102323681116104, 0.00298481168583766, -0.04006796819669906], "max": [3.0971517750748165, -0.8358312752071735, 0.7001256797293104, 0.0, 0.0, 0.7071090340614319, 0.7159165143966675, 0.6128129925129597, 0.07373699819673707, 0.6070105708427918, -0.8743933439254761, 0.22672376036643982, -0.024782011285424232, 0.4503476619720459, 0.040033661369303614, -0.0026330988629181323], "mean": [2.4550838226607903, -3.376895987841378, 0.7000221698280791, 0.0, 0.0, 0.7038966277538927, 0.7102832461624454, 0.3944119763079796, -0.04128524403030179, 0.43525810303265106, -0.9330086238943341, 0.08011120789737072, -0.08664371470878067, 0.2817056450259814, 0.019086696816234282, -0.01776032957017106], "std": [0.8275015702728354, 1.5049754222431404, 3.431196746000231e-05, 0.0, 0.0, 0.003711953169689505, 0.0036704511000964853, 0.15231722948651574, 0.05056704629916954, 0.09157274808139416, 0.04763256143588294, 0.06207677088694313, 0.03254207485446346, 0.17038346178749597, 0.01573489185229982, 0.01636015772513776], "count": [742]}, "action": {"min": [-0.3785714285714286, -1.0, -0.09142857142857143, 0.0, -1.0, -1.0, -0.5714285714285715, -0.5428571428571429, -0.09428571428571429, -0.12, -0.12571428571428572, -1.0], "max": [1.0, 1.0, 0.037142857142857144, 0.0, 1.0, 0.6, 0.5142857142857143, 0.7785714285714286, 0.26857142857142857, 0.1142857142857143, 0.05142857142857143, 1.0], "mean": [0.1341740469772815, 0.06578744705429337, -0.0008625336927223722, 0.0, -0.48787061994609165, -0.014747785906815535, -0.004139391605698897, -0.002839815171351542, 0.008744705429341545, 0.002787832113977665, -0.003192144782441278, 0.2371967654986523], "std": [0.33421632832378895, 0.34328156911605673, 0.008726852549830725, 0.0, 0.8729159513913187, 0.27543889221264634, 0.130199445608711, 0.24021326321340122, 0.04275154116984095, 0.024137139432790826, 0.016781193056913068, 0.9714616278767575], "count": [742]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021563341841101646], "std": [0.1452527642250061], "count": [742]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013477088948787063], "std": [0.03668640859519191], "count": [742]}, "timestamp": {"min": [0.0], "max": [37.05], "mean": [18.525], "std": [10.709837767211976], "count": [742]}, "frame_index": {"min": [0], "max": [741], "mean": [370.5], "std": [214.1967553442395], "count": [742]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [742]}, "index": {"min": [7759], "max": [8500], "mean": [8129.5], "std": [214.1967553442395], "count": [742]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [742]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6754721082792418]], [[0.6535383641602387]], [[0.6047587268649329]]], "std": [[[0.2229570604934292]], [[0.23895788716346525]], [[0.2865660036608499]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6146122284035755]], [[0.5746201645199516]], [[0.5427129308684636]]], "std": [[[0.2442171574010356]], [[0.25444124378532823]], [[0.25859669475329583]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6118514641016395]], [[0.5758982412071811]], [[0.5467515711556657]]], "std": [[[0.2361289348274814]], [[0.2482522719246613]], [[0.25458699703909715]]], "count": [209]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1247]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1247]}, "observation.state": {"min": [-3.5198278837802266, -5.625246028671008, 0.6999966186141532, 0.0, 0.0, -0.020251696929335594, 0.6460279226303101, 0.24525149282240355, -0.14518704428765128, 0.2924575688349125, -0.986816942691803, -0.24260255694389343, -0.1871858835220337, 0.0002469791506882757, 0.0034140314268520902, -0.03992357921812267], "max": [-1.1232593353288662, -3.002544964979417, 0.7004963275637794, 0.0, 0.0, 0.7633138298988342, 1.0, 0.581438592747066, 0.057657949068124825, 0.6094214273077895, 0.9754019379615784, 0.297195702791214, 0.19694139063358307, 0.3353995978832245, 0.040021599246164885, -0.0029574394288810657], "mean": [-2.6904223800983087, -4.627975103157227, 0.7001306178142861, 0.0, 0.0, 0.52550278402472, 0.7832297135948083, 0.4314472172351615, -0.02752179894717017, 0.4423335287015278, -0.9454381839695604, 0.051650924522970425, -0.0006185452192963675, 0.21350248433145788, 0.020724802779206585, -0.019651972747069698], "std": [1.0380911525849854, 1.078362835064656, 0.00013984097841101048, 0.0, 0.0, 0.3060640765499104, 0.1293167333219802, 0.11594261001759351, 0.06253227277631133, 0.09468082439828165, 0.11075486466999986, 0.13940618559371096, 0.12410372475269021, 0.10388777983049005, 0.0145945326568561, 0.015106488815965623], "count": [1247]}, "action": {"min": [-0.7785714285714286, -1.0, -0.40857142857142864, 0.0, -1.0, -0.9571428571428572, -0.44285714285714284, -0.45714285714285713, -0.07428571428571429, -0.11714285714285716, -0.19428571428571428, -1.0], "max": [1.0, 0.5357142857142857, 0.09714285714285714, 0.0, 1.0, 0.5357142857142857, 0.6642857142857144, 0.5285714285714286, 0.17714285714285713, 0.11714285714285716, 0.14, 1.0], "mean": [0.08952342765494332, -0.05227402909840758, -0.02618627563294764, 0.0, -0.4450681635926223, -0.0019074349868255505, 0.007257417802726547, -0.01302554702715089, 0.0032833085118570285, 0.0019910642685301927, -0.0033382976285943385, 0.2558139534883721], "std": [0.22574836574307552, 0.19991166746691347, 0.09219697895810364, 0.0, 0.8954966944418528, 0.18281106166860875, 0.10425298074317264, 0.14740958994310044, 0.02011378799020856, 0.022954229855661406, 0.037166082353720285, 0.9667260321314753], "count": [1247]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012830793857574463], "std": [0.11254403740167618], "count": [1247]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008019246190858059], "std": [0.02830691675176069], "count": [1247]}, "timestamp": {"min": [0.0], "max": [62.3], "mean": [31.150000000000002], "std": [17.99888885459322], "count": [1247]}, "frame_index": {"min": [0], "max": [1246], "mean": [623.0], "std": [359.97777709186437], "count": [1247]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1247]}, "index": {"min": [8501], "max": [9747], "mean": [9124.0], "std": [359.97777709186437], "count": [1247]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1247]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5396921048743586]], [[0.5254835180149602]], [[0.4749675464886178]]], "std": [[[0.14441996699733733]], [[0.15110584211565847]], [[0.14934386984733627]]], "count": [241]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5685180147614998]], [[0.5431231087096567]], [[0.5130432732255976]]], "std": [[[0.2026515617348346]], [[0.20662197787856726]], [[0.21496679775119323]]], "count": [241]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5551163448463783]], [[0.5300639740901466]], [[0.5017449844902869]]], "std": [[[0.22395294375384633]], [[0.22725167430200327]], [[0.23396970376231888]]], "count": [241]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1508]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1508]}, "observation.state": {"min": [-1.3504960652702669, -4.074829897857921, 0.6999970862138171, 0.0, 0.0, -0.006731616333127022, 0.7317292094230652, 0.20443798438404925, -0.183376400174887, 0.24790749517542132, -0.9959290623664856, -0.1967780590057373, -0.2532951235771179, 0.01563672535121441, 0.004374212062827905, -0.039921851347041154], "max": [2.1099093297361438, -0.9255560760616983, 0.7003679283685447, 0.0, 0.0, 0.6815954446792603, 1.0, 0.6653343291701266, 0.18227813785442604, 0.5988162237056132, -0.7850168943405151, 0.1541922688484192, -0.023178627714514732, 0.5960177779197693, 0.04003923340955654, -0.004240852209649059], "mean": [-0.2678357347182448, -1.931977776855621, 0.7000989894975439, 0.0, 0.0, 0.151841185158729, 0.9448438814448425, 0.4210776939876247, -0.020481907762757354, 0.42078344184773686, -0.9112526651481735, 0.02600593666795552, -0.13942083659821464, 0.3048946623905347, 0.018859030544953453, -0.017530135834403132], "std": [1.2733229683797218, 0.9318089159877442, 0.00012122422751458937, 0.0, 0.0, 0.27072903280962823, 0.10449929359136455, 0.12864490847977664, 0.10135145813189557, 0.08596704252015977, 0.0653133204934411, 0.08947508057086408, 0.043652721558036074, 0.20583043249082983, 0.015217223493094468, 0.0159578772936739], "count": [1508]}, "action": {"min": [-0.6785714285714286, -0.9, -0.03428571428571429, 0.0, -1.0, -1.0, -0.5214285714285715, -0.5142857142857143, -0.12571428571428572, -0.12857142857142856, -0.22285714285714286, -1.0], "max": [1.0, 0.7357142857142858, 0.30857142857142855, 0.0, 1.0, 0.5642857142857142, 0.41428571428571426, 0.6785714285714286, 0.24, 0.1457142857142857, 0.21142857142857144, 1.0], "mean": [0.12061386888973091, -0.01339996210685861, 0.02350890488821525, 0.0, -0.35809018567639256, -0.0024772641151951246, -0.009080143993937083, -0.007924403183023936, 0.005316407730200832, -0.0018681318681318688, -0.000615763546798029, 0.2984084880636605], "std": [0.27305289077968903, 0.24702417513202693, 0.07047362901827316, 0.0, 0.9336870026525201, 0.1581510698830539, 0.09137218632056644, 0.13421961508602165, 0.030765575403956164, 0.025881661043071727, 0.03448760792513996, 0.9544382506226295], "count": [1508]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010610079392790794], "std": [0.10245733708143234], "count": [1508]}, "next.done": {"min": [false], "max": [true], "mean": [0.000663129973474801], "std": [0.02574277048246906], "count": [1508]}, "timestamp": {"min": [0.0], "max": [75.35], "mean": [37.675], "std": [21.766100362720007], "count": [1508]}, "frame_index": {"min": [0], "max": [1507], "mean": [753.5], "std": [435.32200725440015], "count": [1508]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1508]}, "index": {"min": [9748], "max": [11255], "mean": [10501.5], "std": [435.32200725440015], "count": [1508]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1508]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.050980392156862744]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5861412387778419]], [[0.5760599374225321]], [[0.5415050231320022]]], "std": [[[0.2739959367495305]], [[0.29816754692979097]], [[0.3221653681526044]]], "count": [197]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.545484356459212]], [[0.5146511448073936]], [[0.49189642572730435]]], "std": [[[0.24183592244044722]], [[0.24792217944365735]], [[0.24995874059546366]]], "count": [197]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.53692776913594]], [[0.4995858296572515]], [[0.47310649681603884]]], "std": [[[0.23319520240542593]], [[0.243575613303443]], [[0.24871439417468552]]], "count": [197]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1153]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1153]}, "observation.state": {"min": [1.613679980256616, -3.7203875583896036, 0.6999966959742959, 0.0, 0.0, 0.7069122195243835, 0.6698280572891235, 0.16019281680737774, -0.4188194869723878, 0.2675475265145655, -0.9956396818161011, -0.10389423370361328, -0.20910625159740448, 0.0006055678240954876, 0.0030296310160309254, -0.04000940741537138], "max": [3.4201293570082854, -0.8093840379697449, 0.7002371799493009, 0.0, 0.0, 0.742516279220581, 0.7073011994361877, 0.6697543115410225, 0.07837894238199006, 0.5933868020279431, 0.9921035170555115, 0.3984239101409912, 0.14323656260967255, 0.3253292441368103, 0.04002600718306454, -0.0037137020824766823], "mean": [2.059946248631625, -2.9280669848227827, 0.7000735434165796, 0.0, 0.0, 0.7157721290460175, 0.6980255864437828, 0.48242880152706297, -0.17009965739967392, 0.3876382584601875, -0.5568789549734111, 0.06095422181427634, -0.009033743596774791, 0.15922612787150847, 0.020644475476191745, -0.020066001042544312], "std": [0.7309212168893814, 1.1183320667480414, 8.246766142641374e-05, 0.0, 0.0, 0.014306460302909892, 0.01502818890519995, 0.1574242643556431, 0.15657126014708053, 0.07956956886197314, 0.7803853631137451, 0.16925616350361056, 0.08701150791388597, 0.12456274437880273, 0.016673592868713137, 0.0169846840818126], "count": [1153]}, "action": {"min": [-0.807142857142857, -0.8, 0.0, 0.0, -1.0, -0.5785714285714286, -0.5785714285714286, -0.41428571428571426, -0.20857142857142857, -0.16857142857142857, -0.38, -1.0], "max": [1.0, 0.0, 0.08571428571428572, 0.0, 1.0, 0.4714285714285715, 1.0, 0.6214285714285714, 0.36, 0.13714285714285715, 0.19428571428571428, 1.0], "mean": [0.0683868169991327, -0.06802131086606368, 0.0024358815512328085, 0.0, -0.6929748482220295, -0.004249783174327844, -0.0071986123156981795, -0.0037417915995539377, 0.0014000743402304537, -0.002445793581960104, -0.0030628174947342312, 0.11882046834345186], "std": [0.23876547538625598, 0.18614049538219365, 0.011489410284369369, 0.0, 0.7209617602422858, 0.15729257164886767, 0.1756562859458096, 0.15132615447371925, 0.049624187971739446, 0.02791414709098491, 0.060121065718735656, 0.9929157548869062], "count": [1153]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013876843266189098], "std": [0.11697980761528015], "count": [1153]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008673026886383347], "std": [0.029437229398919584], "count": [1153]}, "timestamp": {"min": [0.0], "max": [57.6], "mean": [28.8], "std": [16.642115250171777], "count": [1153]}, "frame_index": {"min": [0], "max": [1152], "mean": [576.0], "std": [332.8423050034355], "count": [1153]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1153]}, "index": {"min": [11256], "max": [12408], "mean": [11832.0], "std": [332.8423050034355], "count": [1153]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1153]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6631199139138414]], [[0.6546553119580941]], [[0.6066260998944298]]], "std": [[[0.21179925105342323]], [[0.20205295023581799]], [[0.21761672655446962]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47971319808230406]], [[0.49920040968131596]], [[0.49325486563328186]]], "std": [[[0.283007252077094]], [[0.2380832198705854]], [[0.22676195692282294]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5251001936334878]], [[0.5329419749446115]], [[0.5198690494937873]]], "std": [[[0.2793457102432477]], [[0.22560060614969993]], [[0.2105988863005569]]], "count": [203]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1194]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1194]}, "observation.state": {"min": [1.7529608421700635, -2.3586772906302396, 0.6999952366208537, 0.0, 0.0, -0.7723531126976013, 0.6351933479309082, 0.2206482795478304, -0.2046631079127943, 0.2845880307595452, -0.9943295121192932, -0.4051761329174042, -0.2854815721511841, 0.011192547157406807, 0.0050431423809107695, -0.039842370173889106], "max": [4.478960255905378, -1.3698647862094628, 0.7002662278569537, 0.0, 0.0, -0.7066384553909302, 0.7075749039649963, 0.7775227527971764, 0.24146611307720445, 0.5855750403345947, -0.8678689002990723, 0.4482884109020233, 0.2456308901309967, 0.30072298645973206, 0.04002782368537483, -0.004200809791665598], "mean": [2.4931107455059016, -1.9660220071793384, 0.7000595644588608, 0.0, 0.0, -0.7179826090184088, 0.695631177830736, 0.48662118172154434, -0.035668945911181395, 0.4214245341855279, -0.9297249817868174, 0.18268629081759422, -0.12915778389172097, 0.17144540981178982, 0.021936916330867293, -0.020885046999108377], "std": [1.1605540965424188, 0.2450373856686051, 8.198008975459358e-05, 0.0, 0.0, 0.016783072657725755, 0.017792259325614585, 0.20450963321072657, 0.14656021963825325, 0.08577207537868586, 0.04126299988306994, 0.1934693542524963, 0.1078977712336591, 0.07339592134173527, 0.015084549615485329, 0.015580138821306468], "count": [1194]}, "action": {"min": [-1.0, 0.0, -0.15142857142857147, 0.0, -1.0, -1.0, -0.7357142857142858, -0.37142857142857144, -0.15714285714285714, -0.4114285714285714, -0.5285714285714286, -1.0], "max": [1.0, 1.0, 0.30857142857142855, 0.0, 1.0, 0.5857142857142857, 0.8142857142857143, 0.6357142857142857, 0.2, 0.17714285714285713, 0.20857142857142857, 1.0], "mean": [0.0012443168222062686, 0.07853553481694187, -0.0029767887054319197, 0.0, -0.7453936348408711, -0.013890882986360391, 0.011180904522613087, -0.009691313711414242, 0.007319932998324955, -0.009928212491026558, -0.011562574778655191, 0.15577889447236182], "std": [0.18477427044352276, 0.2553520678857609, 0.030733454365343242, 0.0, 0.6666245788588281, 0.23430845608480655, 0.19413989006630739, 0.1429889930623015, 0.03217817726390203, 0.06466180415223254, 0.07991865816210053, 0.9877919497733103], "count": [1194]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013400334864854813], "std": [0.11498159915208817], "count": [1194]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008375209380234506], "std": [0.028927832561424692], "count": [1194]}, "timestamp": {"min": [0.0], "max": [59.65], "mean": [29.825000000000003], "std": [17.233899491022534], "count": [1194]}, "frame_index": {"min": [0], "max": [1193], "mean": [596.5], "std": [344.67798982045065], "count": [1194]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1194]}, "index": {"min": [12409], "max": [13602], "mean": [13005.5], "std": [344.67798982045065], "count": [1194]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1194]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.601983261502072]], [[0.6130282816380047]], [[0.5800482017565455]]], "std": [[[0.15417866172596176]], [[0.1503516268318569]], [[0.18087085314084736]]], "count": [133]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5874025615077446]], [[0.5711254319521805]], [[0.547678110807954]]], "std": [[[0.22696606494999497]], [[0.20859902575164987]], [[0.20016845709569137]]], "count": [133]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6013492179869481]], [[0.5745276447595897]], [[0.5425036797459526]]], "std": [[[0.22658907023719252]], [[0.20722505394117394]], [[0.19936686310552645]]], "count": [133]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [682]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [682]}, "observation.state": {"min": [2.949963988344238, -5.786199532288645, 0.6999968739125364, 0.0, 0.0, 0.674467146396637, 0.7067104578018188, 0.20734569381201684, -0.3055983935321631, 0.2559049280439474, -0.9918566346168518, -0.3616775870323181, -0.22629386186599731, 0.019798165187239647, 0.00557818388189254, -0.03994234800903147], "max": [4.452527706944668, -5.255322361226692, 0.7001986518198733, 0.0, 0.0, 0.7075028419494629, 0.738304853439331, 0.7230429970999719, 0.12040505534622215, 0.5918839695382768, -0.8415924906730652, 0.37341201305389404, -0.006992927752435207, 0.48866161704063416, 0.04003017512358752, -0.005574404192177952], "mean": [3.273849527863907, -5.567506321467605, 0.7000522135939292, 0.0, 0.0, 0.6988480368142953, 0.7150076874190412, 0.5113717312965647, -0.11039136734618422, 0.397319832473802, -0.9271756672789274, 0.049820141730245605, -0.14033923456868666, 0.20693665868780217, 0.023148027843497947, -0.022366639645875045], "std": [0.5939898132881242, 0.1552817949818293, 4.893273393049669e-05, 0.0, 0.0, 0.014001396963726995, 0.013393178145792098, 0.11155542761747794, 0.16110227033796584, 0.08946429853957315, 0.05208792874507935, 0.18244895686695237, 0.06947718162555551, 0.1857888491445275, 0.015583700168491163, 0.016056837153769196], "count": [682]}, "action": {"min": [-0.9214285714285714, -1.0, -0.22285714285714286, 0.0, -1.0, -1.0, -0.6428571428571428, -0.6357142857142857, -0.13142857142857142, -0.17142857142857143, -0.3742857142857143, -1.0], "max": [0.8714285714285716, 0.0, 0.017142857142857144, 0.0, 1.0, 0.6714285714285714, 0.4714285714285715, 0.6500000000000001, 0.3485714285714286, 0.18285714285714286, 0.18, 1.0], "mean": [0.028068705488060317, -0.06467322999581064, -0.0037159614578969415, 0.0, -0.7800586510263929, -0.005561374109761222, -0.026937578550481758, -0.011499790532048594, 0.010963552576455801, 0.003154587348135734, -0.006112274821952246, 0.026392961876832845], "std": [0.16131691737717035, 0.21297971532034754, 0.023859810543348164, 0.0, 0.6257064015645718, 0.27095624674110125, 0.14474618147900023, 0.20705982116365262, 0.05233353284095909, 0.03518605736829072, 0.07062435974834635, 0.9996516451061129], "count": [682]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02346041053533554], "std": [0.15136055648326874], "count": [682]}, "next.done": {"min": [false], "max": [true], "mean": [0.001466275659824047], "std": [0.03826389545659792], "count": [682]}, "timestamp": {"min": [0.0], "max": [34.05], "mean": [17.025], "std": [9.843811507744345], "count": [682]}, "frame_index": {"min": [0], "max": [681], "mean": [340.5], "std": [196.8762301548869], "count": [682]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [682]}, "index": {"min": [13603], "max": [14284], "mean": [13943.5], "std": [196.8762301548869], "count": [682]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [682]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38847915996751836]], [[0.40066841474545545]], [[0.3707724010028199]]], "std": [[[0.23752843027905535]], [[0.2454347549230462]], [[0.20996461288423252]]], "count": [174]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48676999951634076]], [[0.4510471518522774]], [[0.4255105861812555]]], "std": [[[0.28514950889841795]], [[0.2803202925449358]], [[0.28107712056492884]]], "count": [174]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4869350372307575]], [[0.44607223087746684]], [[0.42026041928029745]]], "std": [[[0.287083534644858]], [[0.28202812965028323]], [[0.2859751136394736]]], "count": [174]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [972]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [972]}, "observation.state": {"min": [1.398342694247726, -4.310228537499402, 0.6999966450684936, 0.0, 0.0, -0.13325315713882446, 0.9910820722579956, 0.25710162025834027, -0.12224568009866488, 0.29583775920161026, -0.9992572069168091, -0.11002153158187866, -0.18664920330047607, 0.02125452645123005, 0.005051607859971677, -0.04002935915024867], "max": [4.22255967199911, -1.3469030418310755, 0.700146370291439, 0.0, 0.0, 2.7411851988290437e-05, 1.0, 0.632854607893071, 0.20315908030007776, 0.6083580418255824, -0.8214446306228638, 0.053224921226501465, 0.11396278440952301, 0.5618248581886292, 0.040038537308629545, -0.004733805175413137], "mean": [2.1588472769979328, -3.5635339448294254, 0.7000548417490559, 0.0, 0.0, -0.027781062602886365, 0.998317387184979, 0.4807308709870768, 0.02364891709658307, 0.4082368992123874, -0.9344520528988584, -0.029152204240423172, -0.04221321135939785, 0.25776458340371217, 0.02168019872737524, -0.020525765930613712], "std": [1.0043399368208623, 1.1900461088536656, 5.744669809087485e-05, 0.0, 0.0, 0.05079124568319228, 0.003296979491595348, 0.12094413890634242, 0.10435979787734427, 0.07688733892443678, 0.06257305325533521, 0.047911725912470615, 0.07167565812306156, 0.21535239095008335, 0.01575667907249842, 0.016413607357948144], "count": [972]}, "action": {"min": [-0.8928571428571429, 0.0, -0.1457142857142857, 0.0, -1.0, -0.75, -0.46428571428571436, -0.46428571428571436, -0.12857142857142856, -0.14857142857142858, -0.1, -1.0], "max": [1.0, 1.0, 0.03142857142857143, 0.0, 1.0, 0.5142857142857143, 0.5142857142857143, 0.45, 0.2, 0.3485714285714286, 0.09428571428571429, 1.0], "mean": [0.07317019400352737, 0.10720899470899473, -0.007460317460317464, 0.0, -0.6152263374485597, 0.005798059964726614, 0.002961493239271028, -0.009641387419165195, 0.0061022927689594365, 0.002707231040564378, -0.00031452087007642605, 0.11728395061728394], "std": [0.26480112573203385, 0.2783273962274935, 0.02468122114921892, 0.0, 0.7883505271829486, 0.1781100073654137, 0.1602037931540519, 0.14746305654796, 0.03481611029183898, 0.03621556775146384, 0.01659197706147652, 0.9930984215714024], "count": [972]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016460904851555824], "std": [0.12723970413208008], "count": [972]}, "next.done": {"min": [false], "max": [true], "mean": [0.00102880658436214], "std": [0.032058511215808404], "count": [972]}, "timestamp": {"min": [0.0], "max": [48.55], "mean": [24.275], "std": [14.02960411653396], "count": [972]}, "frame_index": {"min": [0], "max": [971], "mean": [485.5], "std": [280.5920823306792], "count": [972]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [972]}, "index": {"min": [14285], "max": [15256], "mean": [14770.5], "std": [280.5920823306792], "count": [972]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [972]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5864701140160654]], [[0.519669148541879]], [[0.4473739048404157]]], "std": [[[0.1921864656040688]], [[0.19414156180645095]], [[0.20209280693317294]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6065404282201587]], [[0.5226536792257558]], [[0.4572383604187896]]], "std": [[[0.18089201192623705]], [[0.17652122163086073]], [[0.19165065729648303]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5961469017737764]], [[0.5322619315405128]], [[0.48022178721448244]]], "std": [[[0.1865239431885415]], [[0.1793211185023114]], [[0.19002033399076118]]], "count": [184]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1054]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1054]}, "observation.state": {"min": [0.879243300662381, -5.827701058725039, 0.6999959856991755, 0.0, 0.0, 0.6828550100326538, 0.5552388429641724, 0.21037352260488085, -0.24648723883397805, 0.30181282085874306, -0.9983981251716614, -0.05630949139595032, -0.27067145705223083, 0.00016909046098589897, 0.003839315837920534, -0.0400055536930797], "max": [2.2726135479165843, -4.689738876505558, 0.7002139698525295, 0.0, 0.0, 0.8316908478736877, 0.730553925037384, 0.5847831238187213, 0.1858815548268813, 0.6392919874441966, 0.9987673759460449, 0.17530694603919983, 0.24305586516857147, 0.3670338988304138, 0.04002242739890695, -0.003725025905753171], "mean": [1.9201053477241992, -5.414850780765874, 0.7000592350813504, 0.0, 0.0, 0.7299363991454159, 0.6792599271551708, 0.41509948838167676, -0.1325337988331395, 0.45410929609381895, -0.4334535595927338, 0.048341241992119366, -0.0002538741776677497, 0.14964956443123548, 0.023572905868438517, -0.02268588947873149], "std": [0.5675186175870434, 0.3888567807064818, 6.630352916246204e-05, 0.0, 0.0, 0.04853609746220914, 0.05867740313060969, 0.1163974728500485, 0.12100274945808066, 0.09532008623311757, 0.8574019666028204, 0.07112899482564215, 0.16014263649309182, 0.14677517358891323, 0.014981084933513878, 0.01560662313461902], "count": [1054]}, "action": {"min": [-0.8428571428571429, -0.3357142857142857, -0.12571428571428572, 0.0, -1.0, -0.5928571428571429, -0.807142857142857, -0.4357142857142858, -0.16857142857142857, -0.18, -0.13428571428571429, -1.0], "max": [0.8857142857142857, 0.9714285714285714, 0.5057142857142857, 0.0, 1.0, 0.5071428571428571, 0.9071428571428573, 0.7142857142857143, 0.23428571428571432, 0.29714285714285715, 0.1657142857142857, 1.0], "mean": [0.028042830035239916, 0.05319869883437245, 0.009341284901057198, 0.0, -0.6907020872865275, -0.0034358904852263357, 0.002609108159392804, -0.010280563838438613, 0.002740580103008946, 0.0024640824071564134, -0.0022661968013011637, 0.0683111954459203], "std": [0.16777186596624843, 0.17527626994027934, 0.06789694236136437, 0.0, 0.723139424051843, 0.13155684286662606, 0.19172564081722318, 0.17562596732232, 0.04058084696769331, 0.047033112129033876, 0.024204160552133525, 0.9976640619851616], "count": [1054]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01518026553094387], "std": [0.12226946651935577], "count": [1054]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009487666034155598], "std": [0.030787439733563474], "count": [1054]}, "timestamp": {"min": [0.0], "max": [52.65], "mean": [26.325], "std": [15.213172746011924], "count": [1054]}, "frame_index": {"min": [0], "max": [1053], "mean": [526.5], "std": [304.2634549202385], "count": [1054]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1054]}, "index": {"min": [15257], "max": [16310], "mean": [15783.5], "std": [304.2634549202385], "count": [1054]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1054]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.617663509371862]], [[0.5456145275439214]], [[0.4604475564553843]]], "std": [[[0.23341181588609317]], [[0.2466615279612276]], [[0.2636576951206335]]], "count": [227]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5792267180481774]], [[0.497099502034948]], [[0.44012378601353636]]], "std": [[[0.20526024657636938]], [[0.22569947886692024]], [[0.24239924508378882]]], "count": [227]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.600189882495752]], [[0.5154702007250536]], [[0.4568376931108691]]], "std": [[[0.20032115510422716]], [[0.2279522856202339]], [[0.24809013157117252]]], "count": [227]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1388]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1388]}, "observation.state": {"min": [1.5348234543007597, -4.710360150541016, 0.699996149040791, 0.0, 0.0, 0.6657108664512634, 0.6192705631256104, 0.1250267596849236, -0.20346158221309363, 0.2932702117195589, -0.9993888735771179, -0.08501079678535461, -0.21458563208580017, 1.0368139555794187e-05, 0.0012037201046939117, -0.03993736528605723], "max": [4.052716851957506, -1.0782123236926997, 0.7001405419499337, 0.0, 0.0, 0.7851776480674744, 0.7462096810340881, 0.6972612833893033, 0.017346642185549044, 0.6162389708431519, 0.9898175597190857, 0.15383771061897278, 0.15666788816452026, 0.2633773386478424, 0.04001991225513112, -0.0032528619790354093], "mean": [3.7401140732931872, -3.6168385765339655, 0.700025519047153, 0.0, 0.0, 0.7051731695015767, 0.7081194441411268, 0.4329172538780211, -0.09018665972889713, 0.4404935654439781, -0.918585524864774, -0.021492693173331384, -0.04012455499013143, 0.1549350300126524, 0.020675925603808855, -0.02003886302119909], "std": [0.6939768510704964, 1.5463008968781111, 3.689067451116077e-05, 0.0, 0.0, 0.02505687163916536, 0.02588028728396154, 0.16038998338828356, 0.05992542201480174, 0.0850932731303982, 0.3330057485636058, 0.056922510250902406, 0.08332059773882766, 0.09512378791425022, 0.01490264518268799, 0.01509309970406006], "count": [1388]}, "action": {"min": [-0.2142857142857143, -0.9928571428571428, -0.26, 0.0, -1.0, -0.8857142857142857, -0.45714285714285713, -0.5142857142857143, -0.04285714285714286, -0.1457142857142857, -0.07142857142857142, -1.0], "max": [1.0, 0.8500000000000001, 0.11142857142857143, 0.0, 1.0, 0.3857142857142857, 0.4714285714285715, 0.4928571428571429, 0.16857142857142857, 0.17714285714285713, 0.18, 1.0], "mean": [0.09092733635240838, 0.0027017291066282812, -0.001982297241663235, 0.0, -0.4452449567723343, -0.006895841910251099, -0.005460065870728707, -0.005449773569370127, 0.00235487855084397, 1.029230135858546e-05, -0.0003725813091807336, 0.2420749279538905], "std": [0.23112363623093707, 0.2902108865314397, 0.03683749342298586, 0.0, 0.8954088052218464, 0.1780986268687922, 0.09365099936832737, 0.12463541735205433, 0.01627216373205262, 0.03304668885070077, 0.023978930371695722, 0.9702575582061183], "count": [1388]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011527377180755138], "std": [0.10674501210451126], "count": [1388]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007204610951008645], "std": [0.026831735518063504], "count": [1388]}, "timestamp": {"min": [0.0], "max": [69.35], "mean": [34.675000000000004], "std": [20.03404914139925], "count": [1388]}, "frame_index": {"min": [0], "max": [1387], "mean": [693.5], "std": [400.68098282798496], "count": [1388]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1388]}, "index": {"min": [16311], "max": [17698], "mean": [17004.5], "std": [400.68098282798496], "count": [1388]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1388]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.561615774980604]], [[0.47489281962201857]], [[0.4153942500750689]]], "std": [[[0.18328861122005713]], [[0.21114952041954987]], [[0.2420072675347356]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5296403244267137]], [[0.44978533409802623]], [[0.3990105651015945]]], "std": [[[0.16434345761686536]], [[0.18317807192536956]], [[0.20289481710532833]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5319395406736233]], [[0.46030083979040154]], [[0.41149286425133447]]], "std": [[[0.1897583649992704]], [[0.20024997596752386]], [[0.2144237175368814]]], "count": [201]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1183]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1183]}, "observation.state": {"min": [0.7977095954457754, -3.994400063073601, 0.6999958766649123, 0.0, 0.0, 0.7066227793693542, 0.10498187690973282, 0.062494176071023144, -0.27577897005228014, 0.296300912406099, -0.993475615978241, -0.09082446992397308, -0.17718838155269623, 0.0016793656395748258, 0.004700111918238723, -0.04000979970304582], "max": [2.6672008239299223, -2.9593049318815967, 0.7002126278714362, 0.0, 0.0, 0.9944741129875183, 0.7075905203819275, 0.5644585549663494, 0.029922002877574183, 0.5834835001133832, 0.9934735298156738, 0.21652385592460632, 0.2591051161289215, 0.23864935338497162, 0.040016211952722064, -0.004723704201871247], "mean": [2.1496616105917736, -3.7279818223491072, 0.7000382770018722, 0.0, 0.0, 0.7713450841851287, 0.5792393163224447, 0.3534773091217919, -0.13053875254850097, 0.41922528687234517, -0.2684851888872664, 0.054739811074300426, 0.0459961046730489, 0.14680984729211322, 0.02161089965688566, -0.02081359356896405], "std": [0.7781629431209796, 0.43230813283810693, 5.5328192856205983e-05, 0.0, 0.0, 0.1156949547984906, 0.23690345014489303, 0.16661697785608146, 0.11251334100726676, 0.06588858549493028, 0.9387412433732288, 0.04165833025180647, 0.10597104035195214, 0.08396478810211594, 0.015589918463063462, 0.016192731981225932], "count": [1183]}, "action": {"min": [-0.20714285714285713, -0.7000000000000001, 0.0, 0.0, -1.0, -0.6142857142857143, -0.4928571428571429, -0.41428571428571426, -0.12857142857142856, -0.10571428571428572, -0.18, -1.0], "max": [0.8857142857142857, 0.7142857142857143, 0.3742857142857143, 0.0, 1.0, 0.45, 0.44285714285714284, 0.6142857142857143, 0.11714285714285716, 0.1457142857142857, 0.16285714285714287, 1.0], "mean": [0.04988527955560922, 0.045616471440647274, 0.02439560439560439, 0.0, -0.5925612848689772, -0.012758120999879234, -0.002125347180292254, -0.002276295133438008, 0.0024441492573360727, -0.0013524936601859694, -0.0007293805096002899, 0.13102282333051563], "std": [0.1574930360239357, 0.1695475610102676, 0.0818279272914853, 0.0, 0.8055253712170878, 0.16920208281070248, 0.10272002067175447, 0.14914417893543006, 0.02278128372019508, 0.024493828486939782, 0.032022352381005315, 0.9913793520981239], "count": [1183]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013524936512112617], "std": [0.11550763249397278], "count": [1183]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008453085376162299], "std": [0.029061899302909696], "count": [1183]}, "timestamp": {"min": [0.0], "max": [59.1], "mean": [29.55], "std": [17.075128110793194], "count": [1183]}, "frame_index": {"min": [0], "max": [1182], "mean": [591.0], "std": [341.5025622158639], "count": [1183]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1183]}, "index": {"min": [17699], "max": [18881], "mean": [18290.0], "std": [341.5025622158639], "count": [1183]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1183]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6292122760359027]], [[0.6205729572712875]], [[0.553193815673242]]], "std": [[[0.19123415410405642]], [[0.18020039491492285]], [[0.19974961182619413]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5791427074980383]], [[0.5603363507268141]], [[0.5274836979469523]]], "std": [[[0.17898917181562107]], [[0.1893236699024588]], [[0.195689325872319]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6121095484092074]], [[0.5971492457456615]], [[0.565940754964095]]], "std": [[[0.18416152519353618]], [[0.19233799919335817]], [[0.19822755783123458]]], "count": [196]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1143]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1143]}, "observation.state": {"min": [0.99107594271252, -2.504658812473419, 0.6999978073917421, 0.0, 0.0, -0.002491279738023877, 0.7257075309753418, 0.11773431589061534, -0.3753793906594476, 0.25940558662518265, -0.9927564263343811, -0.0851394534111023, -0.17012840509414673, 0.000718689349014312, 0.003544858537475617, -0.04000024282692682], "max": [3.437820719114333, -0.7963238387414693, 0.7003533284838372, 0.0, 0.0, 0.6880033016204834, 1.0, 0.592303518927165, 0.029745269649625428, 0.6108139713723776, 0.9926689863204956, 0.30974847078323364, 0.1265009343624115, 0.47686120867729187, 0.040032157891195116, -0.004524704848395886], "mean": [1.8201531790158532, -2.0058879687798394, 0.7001354034166923, 0.0, 0.0, 0.1517820822039868, 0.9429333197476044, 0.40796536030030994, -0.14641276808731116, 0.3934755267620138, -0.5522672735278479, 0.1439430265184671, -0.038761572150084946, 0.25117637713877516, 0.02058423219012494, -0.019603187353401226], "std": [0.9414162374971019, 0.72147334169242, 0.00011597980552544215, 0.0, 0.0, 0.276146572945563, 0.10761989631623835, 0.1395631266848236, 0.12009330391035505, 0.08437220815346755, 0.7402086859231399, 0.10159423141467219, 0.09341659294409958, 0.2067178999332379, 0.015696069538127803, 0.016266005717718798], "count": [1143]}, "action": {"min": [-0.7714285714285714, -0.7000000000000001, -0.011428571428571429, 0.0, -1.0, -0.5857142857142857, -0.5285714285714286, -0.4, -0.13714285714285715, -0.1, -0.3514285714285714, -1.0], "max": [0.942857142857143, 0.8214285714285715, 0.5457142857142857, 0.0, 1.0, 0.4785714285714286, 0.5571428571428572, 0.5214285714285715, 0.2285714285714286, 0.17142857142857143, 0.15428571428571428, 1.0], "mean": [0.06603549556305463, 0.036439195100612436, 0.02565929258842644, 0.0, -0.5328083989501312, -0.007230346206724139, -0.0014810648668916234, -0.012779652543432033, 0.005439320084989368, 0.0005724284464441946, -0.0013923259592550918, 0.17935258092738407], "std": [0.22875994137879993, 0.18135355883337922, 0.09599807672980681, 0.0, 0.8462359068298877, 0.13852573546662636, 0.135026916615052, 0.14007925743150854, 0.03443779687357968, 0.01807156501334775, 0.049802191685423734, 0.983784860482563], "count": [1143]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013998250477015972], "std": [0.11748319119215012], "count": [1143]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008748906386701663], "std": [0.029565608484192128], "count": [1143]}, "timestamp": {"min": [0.0], "max": [57.1], "mean": [28.55], "std": [16.497777628113028], "count": [1143]}, "frame_index": {"min": [0], "max": [1142], "mean": [571.0], "std": [329.95555256226055], "count": [1143]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1143]}, "index": {"min": [18882], "max": [20024], "mean": [19453.0], "std": [329.95555256226055], "count": [1143]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1143]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6144938502634457]], [[0.6205428101816512]], [[0.5702508847156448]]], "std": [[[0.20828702081014386]], [[0.2098148230523813]], [[0.24030306374420732]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5547885683904233]], [[0.4919387994869558]], [[0.4522563406514398]]], "std": [[[0.24506595819981]], [[0.26595691388119247]], [[0.2776292802319984]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5738018353251876]], [[0.4967455019517186]], [[0.44865337459301785]]], "std": [[[0.23829764336467982]], [[0.26757465767855215]], [[0.2821733460473966]]], "count": [177]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1000]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1000]}, "observation.state": {"min": [-0.021686274812862644, -4.841666128955788, 0.6999959169262452, 0.0, 0.0, -0.028501182794570923, 0.9995937943458557, 0.24977735498708942, -0.12687171107467865, 0.29065399910255163, -0.9963536262512207, -0.0968884527683258, -0.16091418266296387, 0.01652424968779087, 0.0045260339238964616, -0.03994147225461456], "max": [3.5067276801089005, -1.5135171679946848, 0.700146972055429, 0.0, 0.0, -3.1469484383706003e-05, 1.0, 0.5746927958662877, 0.2931810359746818, 0.6049179415264112, -0.9423630833625793, 0.1022137701511383, 0.044834550470113754, 0.3221266567707062, 0.04002574170242618, -0.003875040281157467], "mean": [0.9660820611603526, -3.837019960126744, 0.7000251876337016, 0.0, 0.0, -0.006948875289159332, 0.9999212940335274, 0.4675786531121475, 0.060537843254764884, 0.4184376358686377, -0.9764871285557747, -0.03428538627177477, -0.06197115891146313, 0.15264307928271592, 0.022064850588945167, -0.021021281345796925], "std": [1.2447859723256274, 1.4557393561792256, 4.09716978026926e-05, 0.0, 0.0, 0.010446844559926283, 0.00013052536392148294, 0.07941339278009972, 0.13712680983460276, 0.07505314625689749, 0.015182297051435327, 0.0607887125736984, 0.052678471952165386, 0.10703399114112552, 0.01522271254229549, 0.01583958491273671], "count": [1000]}, "action": {"min": [-0.8785714285714286, -0.31428571428571433, -0.08857142857142856, 0.0, -1.0, -0.9214285714285714, -0.5571428571428572, -0.5785714285714286, -0.15142857142857147, -0.13142857142857142, -0.10571428571428572, -1.0], "max": [1.0, 1.0, 0.028571428571428574, 0.0, 1.0, 0.5785714285714286, 0.8357142857142857, 0.6, 0.15428571428571428, 0.1457142857142857, 0.12857142857142856, 1.0], "mean": [0.07444285714285713, 0.10838571428571436, -0.0011228571428571427, 0.0, -0.522, -0.0002571428571428883, 0.017578571428571405, -0.006107142857142875, 0.0038142857142857206, 0.00016571428571428718, 0.000977142857142856, 0.132], "std": [0.3093140795306894, 0.27363666920698726, 0.00898913221391157, 0.0, 0.8529454847761331, 0.18150767454399178, 0.17922231078655815, 0.16904865484256762, 0.025801878590046783, 0.02357630010265845, 0.02791781466215077, 0.9912497162672985], "count": [1000]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01600000075995922], "std": [0.12547509372234344], "count": [1000]}, "next.done": {"min": [false], "max": [true], "mean": [0.001], "std": [0.03160696125855822], "count": [1000]}, "timestamp": {"min": [0.0], "max": [49.95], "mean": [24.975], "std": [14.433749512860475], "count": [1000]}, "frame_index": {"min": [0], "max": [999], "mean": [499.5], "std": [288.6749902572095], "count": [1000]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1000]}, "index": {"min": [20025], "max": [21024], "mean": [20524.5], "std": [288.6749902572095], "count": [1000]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1000]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6371713331065837]], [[0.5270438252267012]], [[0.47314720731362664]]], "std": [[[0.1559477035129302]], [[0.2181020545522844]], [[0.25327681816148384]]], "count": [158]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6000629068101478]], [[0.5771385554552492]], [[0.5526896825408367]]], "std": [[[0.22444671849554987]], [[0.21178658429493905]], [[0.2043373921778005]]], "count": [158]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6056169018966739]], [[0.5828644257084138]], [[0.5574589085241617]]], "std": [[[0.23627958129872073]], [[0.2231170017361632]], [[0.2146149128883905]]], "count": [158]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [861]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [861]}, "observation.state": {"min": [1.2229480974056537, -6.002517893682497, 0.6999956581323183, 0.0, 0.0, 0.6464839577674866, 0.7070415019989014, 0.14899483104200462, -0.2967746791625694, 0.26752810005038175, -0.9879974722862244, -0.07509487867355347, -0.2779121398925781, 0.00016456648882012814, 0.0010316998463181662, -0.03990445989403035], "max": [2.6793407785896606, -1.044720784600694, 0.7006255576517978, 0.0, 0.0, 0.7071720361709595, 0.7629275321960449, 0.5977205096181315, 0.08618651640910802, 0.5908046996123532, 0.9873088002204895, 0.11802589893341064, 0.30453455448150635, 0.34848877787590027, 0.04002522506674632, -0.002728029004910543], "mean": [2.1674483866509466, -4.652446268310755, 0.7002126612844933, 0.0, 0.0, 0.6907226128999088, 0.7223548599790336, 0.397955779143081, -0.12524720521774588, 0.4056051314345555, -0.6032735645840254, 0.06678080162450965, -0.06743801191328018, 0.18487024037337454, 0.021230895270734497, -0.020315865007277955], "std": [0.6607283234035589, 2.0526804408414763, 0.0002261609064208758, 0.0, 0.0, 0.02442507496038519, 0.022563741880703817, 0.12658353626122926, 0.1001025312663733, 0.0761751467107983, 0.740321741031714, 0.06153884690724332, 0.1444037582281282, 0.1419883183183548, 0.014612375459562099, 0.014790483638582458], "count": [861]}, "action": {"min": [-0.2785714285714286, 0.0, -0.06285714285714286, 0.0, -1.0, -1.0, -0.5642857142857142, -0.5285714285714286, -0.1457142857142857, -0.16285714285714287, -0.1142857142857143, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.7142857142857143, 0.6714285714285714, 0.807142857142857, 0.19428571428571428, 0.20857142857142857, 0.10571428571428572, 1.0], "mean": [0.15355898456943753, 0.09712128753940603, -0.005193296830927491, 0.0, -0.5470383275261324, -0.007574249211879839, 0.010029865604778495, -0.01161440185830425, 0.004433383109341297, 0.0012510370001659204, 0.00018583042973287074, 0.23344947735191637], "std": [0.35856306697937507, 0.21317047772211425, 0.012417924781180348, 0.0, 0.8371075607216842, 0.2672604503117603, 0.16177856682925779, 0.20530133777445708, 0.03610080540675469, 0.027275040007621286, 0.018035063918036023, 0.972368932825463], "count": [861]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018583042547106743], "std": [0.1350470930337906], "count": [861]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011614401858304297], "std": [0.03406011219190518], "count": [861]}, "timestamp": {"min": [0.0], "max": [43.0], "mean": [21.5], "std": [12.42745616233132], "count": [861]}, "frame_index": {"min": [0], "max": [860], "mean": [430.0], "std": [248.54912324662638], "count": [861]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [861]}, "index": {"min": [21025], "max": [21885], "mean": [21455.0], "std": [248.54912324662638], "count": [861]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [861]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3678113370920015]], [[0.2831332498164567]], [[0.210446387956383]]], "std": [[[0.2616324732052384]], [[0.20784782694602075]], [[0.15359115082380057]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4619505069975303]], [[0.37198958963825624]], [[0.34741917059673527]]], "std": [[[0.27873697643041356]], [[0.27915047488026934]], [[0.2886971037401518]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47329775196807]], [[0.37784843835233217]], [[0.35293697202108737]]], "std": [[[0.2824407975218508]], [[0.28772650886990664]], [[0.298782108300356]]], "count": [205]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1215]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1215]}, "observation.state": {"min": [3.9733431156335035, -4.581163243178611, 0.699995283965485, 0.0, 0.0, 0.702732264995575, 0.693497896194458, 0.2532891080139219, -0.27507381508067263, 0.2656692148464015, -0.9838643670082092, -0.006967648863792419, -0.2568826973438263, 9.185816452372819e-05, 0.0032116129424171087, -0.040002313003250224], "max": [5.7798111111508845, -1.102446067158237, 0.7001629847288028, 0.0, 0.0, 0.7204586267471313, 0.7114543914794922, 0.6435558325257935, 0.015787656541239592, 0.5889930617258676, 0.9899417757987976, 0.3046930730342865, 0.1752326339483261, 0.3328828513622284, 0.040026102871105404, -0.003024355375179543], "mean": [4.450172128015672, -3.608719469626317, 0.7000278396719768, 0.0, 0.0, 0.7073489807270191, 0.7068436896359479, 0.44194347014922597, -0.16134176187911337, 0.4256806331610632, -0.7288708380220358, 0.1447861282545843, -0.09524633398379195, 0.17430226771548293, 0.023618703717761303, -0.022811072238296575], "std": [0.7782088321987868, 1.2393427996720592, 3.757324561784448e-05, 0.0, 0.0, 0.0038096954922143943, 0.003854741700589513, 0.11324669408991593, 0.08375750307338456, 0.08918120115809107, 0.6097794501555573, 0.09432239751333621, 0.1209211765385619, 0.11393641639292898, 0.01536230928942347, 0.015780785050034243], "count": [1215]}, "action": {"min": [-1.0, -1.0, -0.07142857142857142, 0.0, -1.0, -0.9142857142857143, -0.45714285714285713, -0.40714285714285714, -0.16285714285714287, -0.18285714285714286, -0.1457142857142857, -1.0], "max": [1.0, 0.15714285714285717, 0.04857142857142857, 0.0, 1.0, 0.5714285714285715, 0.6071428571428572, 0.5285714285714286, 0.16857142857142857, 0.16857142857142857, 0.1142857142857143, 1.0], "mean": [0.07313345091122865, -0.05044679600235155, -0.0002892416225749559, 0.0, -0.6987654320987654, 0.004562022339800146, -0.002457378012933562, -0.006613756613756654, 0.004174015285126394, -0.0021234567901234572, -0.0015920047031158183, 0.04691358024691358], "std": [0.27879923921083305, 0.19143752623357285, 0.009604087812855771, 0.0, 0.7153508725819929, 0.19723208346132226, 0.13083900723794717, 0.14806233342258107, 0.026232788396594268, 0.030121824423263447, 0.028103370656347743, 0.9988989518406892], "count": [1215]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01316872425377369], "std": [0.1139969676733017], "count": [1215]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008230452674897119], "std": [0.028676957020879582], "count": [1215]}, "timestamp": {"min": [0.0], "max": [60.7], "mean": [30.35], "std": [17.53700848681629], "count": [1215]}, "frame_index": {"min": [0], "max": [1214], "mean": [607.0], "std": [350.74016973632587], "count": [1215]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1215]}, "index": {"min": [21886], "max": [23100], "mean": [22493.0], "std": [350.74016973632587], "count": [1215]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1215]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6579901818190707]], [[0.5918778468431608]], [[0.4731744755890949]]], "std": [[[0.19908852378054945]], [[0.1974987365115779]], [[0.23321079445314663]]], "count": [188]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5926864681315511]], [[0.507656066219758]], [[0.4515392734748799]]], "std": [[[0.20705434066727071]], [[0.23659297305805535]], [[0.25475637759538333]]], "count": [188]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6000705879730237]], [[0.5166529442600573]], [[0.4629251310613487]]], "std": [[[0.19971717756915255]], [[0.23015515562367025]], [[0.25254679909399075]]], "count": [188]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1080]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1080]}, "observation.state": {"min": [1.3693380351647684, -3.099126269183539, 0.6999966599608779, 0.0, 0.0, 0.6941816210746765, 0.7070322632789612, 0.1031418989754479, -0.07329952844936649, 0.26850407132155985, -0.9938812255859375, -0.08722949028015137, -0.19531869888305664, 8.952351345214993e-05, 0.002867693624576405, -0.039868892320842966], "max": [3.3545693663131977, -0.8468067203481036, 0.7002012602249598, 0.0, 0.0, 0.7071812748908997, 0.7197998762130737, 0.4029043124542038, 0.14543281334217895, 0.6078229240306235, 0.9931592345237732, 0.2949986457824707, 0.11868467926979065, 0.5171667337417603, 0.04003012235929059, -0.002422536773446673], "mean": [2.5917865570200025, -2.4489662805577637, 0.7000711462301179, 0.0, 0.0, 0.7026650195320447, 0.7114745969573657, 0.2780990412006123, 0.04915360968557755, 0.4849203985324525, -0.9114482494967955, 0.11809086905171474, -0.001719379148225589, 0.3014436460413385, 0.018169953365691886, -0.016777905394503457], "std": [0.930777425653347, 0.983312229473694, 7.237208917889835e-05, 0.0, 0.0, 0.00578370901257877, 0.005682515089479597, 0.09700866143709458, 0.055081057131908646, 0.09262015815812037, 0.11787613577704846, 0.07902711661194244, 0.08919883716459791, 0.19065389741380184, 0.015271703966502778, 0.015923136205308684], "count": [1080]}, "action": {"min": [-0.37142857142857144, 0.0, -0.011428571428571429, 0.0, -1.0, -0.7071428571428572, -0.3, -0.41428571428571426, -0.14, -0.14285714285714285, -0.11714285714285716, -1.0], "max": [1.0, 0.8500000000000001, 0.0, 0.0, 1.0, 0.42142857142857143, 0.4357142857142858, 0.6428571428571428, 0.14, 0.09428571428571429, 0.12857142857142856, 1.0], "mean": [0.07173941798941802, 0.07316137566137562, -0.00018253968253968252, 0.0, -0.5481481481481482, -0.009298941798941796, 0.001865079365079379, -0.009338624338624315, 0.005288359788359792, 0.00315608465608466, -0.004018518518518515, 0.31666666666666665], "std": [0.21847956824784148, 0.19512971739577856, 0.001302917438810206, 0.0, 0.8363812573711555, 0.1482984232876341, 0.09320457151704063, 0.14762671842921074, 0.02994944077653955, 0.025427438422509784, 0.025460914368219928, 0.9485368850088267], "count": [1080]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014814814552664757], "std": [0.12081115692853928], "count": [1080]}, "next.done": {"min": [false], "max": [true], "mean": [0.000925925925925926], "std": [0.03041494019566082], "count": [1080]}, "timestamp": {"min": [0.0], "max": [53.95], "mean": [26.975], "std": [15.588450585823681], "count": [1080]}, "frame_index": {"min": [0], "max": [1079], "mean": [539.5], "std": [311.76901171647364], "count": [1080]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1080]}, "index": {"min": [23101], "max": [24180], "mean": [23640.5], "std": [311.76901171647364], "count": [1080]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1080]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.027450980392156862]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6589285205575606]], [[0.546310356753187]], [[0.4384705472753305]]], "std": [[[0.17656825954227862]], [[0.14026658769830622]], [[0.15229247273284072]]], "count": [204]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6433460929310354]], [[0.5337600625876692]], [[0.4346717520614442]]], "std": [[[0.2123719380023653]], [[0.19469536035865975]], [[0.21787950233223438]]], "count": [204]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6757992909808014]], [[0.545478538621714]], [[0.42990894779614514]]], "std": [[[0.1946351988573613]], [[0.18560391764305245]], [[0.22435819766747725]]], "count": [204]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1207]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1207]}, "observation.state": {"min": [1.843432585356797, -4.651657047419467, 0.6999968001508569, 0.0, 0.0, 0.6901149153709412, 0.707122802734375, 0.23420439092571788, -0.08535753973599736, 0.2983061091287994, -0.9914433360099792, -0.039894238114356995, -0.30076509714126587, 0.019133370369672775, 0.00367534133136837, -0.03988507602470928], "max": [4.777231745983223, -1.1492073797853257, 0.7002074446972343, 0.0, 0.0, 0.7070906758308411, 0.7236997485160828, 0.6142706757718059, 0.18231513337198457, 0.6004387958869669, -0.8896153569221497, 0.3133704364299774, -0.09097083657979965, 0.25119683146476746, 0.04002107689823999, -0.003351768813624926], "mean": [4.135405112251457, -3.6546024306608174, 0.7000302684177044, 0.0, 0.0, 0.7007793501673796, 0.713299450394331, 0.4546019659539137, 0.0454185890192826, 0.40507527538837945, -0.9628709384796534, 0.05488640181072112, -0.17727339741802453, 0.15272080439027913, 0.019270864487442616, -0.018306543410757565], "std": [0.9199217984118522, 1.43903722461631, 5.5867012852644844e-05, 0.0, 0.0, 0.007576374213707724, 0.007401901058685388, 0.10913017387145697, 0.06549960175487701, 0.06191155379479355, 0.021572949851768254, 0.08182815300462143, 0.02806399068500116, 0.08466823650546104, 0.01577415375546377, 0.016242215426379308], "count": [1207]}, "action": {"min": [-0.25, -0.7642857142857143, -0.04285714285714286, 0.0, -1.0, -0.7357142857142858, -0.4857142857142857, -0.30714285714285716, -0.07142857142857142, -0.15428571428571428, -0.13714285714285715, -1.0], "max": [0.9357142857142857, 0.8928571428571429, 0.0, 0.0, 1.0, 0.4857142857142857, 0.44285714285714284, 0.5714285714285715, 0.14285714285714285, 0.17714285714285713, 0.15714285714285714, 1.0], "mean": [0.10946857616285949, 0.014546100130192948, -0.0009989347851816787, 0.0, -0.38028169014084506, -0.00026038584447862567, -0.0037045804237187834, -0.004249023553083196, 0.002632264173274945, -0.0009089833116345128, -0.00477452953012191, 0.24109362054681027], "std": [0.2396281124368988, 0.3088592910727963, 0.005174177280194724, 0.0, 0.9248707132046149, 0.16688944587869314, 0.0963311143282932, 0.14276522195852942, 0.018752591584817114, 0.022975759307057548, 0.02509228131777673, 0.9705018630232597], "count": [1207]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013256006874144077], "std": [0.11436906456947327], "count": [1207]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008285004142502071], "std": [0.02877175700776361], "count": [1207]}, "timestamp": {"min": [0.0], "max": [60.3], "mean": [30.150000000000002], "std": [17.421538393609218], "count": [1207]}, "frame_index": {"min": [0], "max": [1206], "mean": [603.0], "std": [348.43076787218433], "count": [1207]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1207]}, "index": {"min": [24181], "max": [25387], "mean": [24784.0], "std": [348.43076787218433], "count": [1207]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1207]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6803902742788339]], [[0.6931474754847393]], [[0.6308206601827401]]], "std": [[[0.22433547437714962]], [[0.21580877214658734]], [[0.21609023970784658]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.619510198358863]], [[0.5992370022587038]], [[0.5715502576858038]]], "std": [[[0.22366652919871055]], [[0.22232379933233187]], [[0.220905236561842]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6147753779752267]], [[0.5951990247123987]], [[0.5690805035418374]]], "std": [[[0.22694076638149852]], [[0.22509162663949964]], [[0.22328666117995616]]], "count": [193]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1122]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1122]}, "observation.state": {"min": [0.25895411263095747, -4.1186577299531155, 0.6999972410488643, 0.0, 0.0, -0.0683482214808464, 0.9976615905761719, 0.2325214765283583, -0.2784384352733458, 0.2896723927525724, -0.9881799221038818, -0.9252073168754578, -0.43631771206855774, 1.2774615242960863e-05, 0.0045496850205571085, -0.0400330387349164], "max": [3.481562903213069, -1.26852055102169, 0.7000844348155296, 0.0, 0.0, -0.00014566420577466488, 1.0, 0.5641981606539854, 0.1344455637728147, 0.6024215684138853, 0.9709358215332031, 0.928619384765625, 0.4400467276573181, 0.12924498319625854, 0.040002337025782306, -0.004824293179854819], "mean": [0.9861344648886783, -3.3546580458701736, 0.7000220606446818, 0.0, 0.0, -0.016716765839653838, 0.9994923703492007, 0.43026495054492947, -0.01739675568359824, 0.4145515119755905, -0.3291577701994306, 0.1431462344399748, 0.023897666364589478, 0.01981176227915501, 0.021728397308610602, -0.0226889974192926], "std": [1.2139397157528873, 1.2101980240753754, 2.6822962434641547e-05, 0.0, 0.0, 0.027106908867366056, 0.0008977666897498574, 0.08375175641603885, 0.1303377736895109, 0.07831603401542982, 0.5804950057795254, 0.6732116921814618, 0.2821731540884338, 0.019763512198487567, 0.016885061149152142, 0.016206028323783792], "count": [1122]}, "action": {"min": [-0.4714285714285715, 0.0, -0.1, 0.0, -1.0, -0.8571428571428572, -0.46428571428571436, -0.35000000000000003, -0.17714285714285713, -0.2714285714285714, -0.07142857142857142, -1.0], "max": [1.0, 1.0, 0.04, 0.0, 1.0, 0.4, 0.4928571428571429, 0.6357142857142857, 0.10285714285714286, 0.13142857142857142, 0.1742857142857143, 1.0], "mean": [0.06826457855869619, 0.08472752737458616, -0.0031932773109243705, 0.0, -0.6702317290552585, -0.0027947542653424845, 0.004348102877514663, -0.01129360835243187, -0.0003947033358798069, -0.006386554621848739, 0.02168831168831167, 0.035650623885918005], "std": [0.2694141445645168, 0.2517841306222287, 0.014000324954325124, 0.0, 0.742151891035519, 0.16604132124565046, 0.147950523171392, 0.1402562964916524, 0.020411850879530763, 0.033536491999470286, 0.04577339151302283, 0.9993643144602185], "count": [1122]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014260249212384224], "std": [0.1185617744922638], "count": [1122]}, "next.done": {"min": [false], "max": [true], "mean": [0.00089126559714795], "std": [0.02984076478214475], "count": [1122]}, "timestamp": {"min": [0.0], "max": [56.05], "mean": [28.025], "std": [16.19466861861232], "count": [1122]}, "frame_index": {"min": [0], "max": [1121], "mean": [560.5], "std": [323.8933723722464], "count": [1122]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1122]}, "index": {"min": [25388], "max": [26509], "mean": [25948.5], "std": [323.8933723722464], "count": [1122]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1122]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.058823529411764705]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6672856229894302]], [[0.6696327450400905]], [[0.6164213547839469]]], "std": [[[0.21596918871678605]], [[0.18709446862641077]], [[0.18808674178737309]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5715696440737068]], [[0.5600158426857585]], [[0.5409892847712686]]], "std": [[[0.2575544126707649]], [[0.23077311682892457]], [[0.21092258531947922]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.590240089251161]], [[0.5763434568548842]], [[0.5552203054201738]]], "std": [[[0.2490172195823741]], [[0.22424484936589748]], [[0.20711865929860304]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1093]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1093]}, "observation.state": {"min": [0.6289462555838254, -4.279770576236388, 0.699996229237769, 0.0, 0.0, 0.5849534869194031, 0.7070712447166443, 0.2402737748918926, -0.15049897628147013, 0.29648512529431337, -0.9892544150352478, -0.044578760862350464, -0.19890353083610535, 0.02935057505965233, 0.004526035412417316, -0.03985521436147821], "max": [3.2914550424976015, -1.0711286978988133, 0.700227717218485, 0.0, 0.0, 0.7071422338485718, 0.811066746711731, 0.5268132988921301, 0.03776659777452451, 0.5975135083823128, -0.9452223181724548, 0.1219022274017334, -0.013542033731937408, 0.29802078008651733, 0.04002405792477295, -0.003743105959444451], "mean": [2.628759691798946, -3.226822773826062, 0.700053260624951, 0.0, 0.0, 0.6917103666945106, 0.7208960631083482, 0.4130746134938868, -0.06614596519278527, 0.43234703317763346, -0.9759132867544371, 0.06716943444293895, -0.09581913757125173, 0.1508351001745364, 0.022549228011877327, -0.02171624381547252], "std": [0.6644104875076653, 1.3114698869514387, 6.89637363262071e-05, 0.0, 0.0, 0.03246076013746819, 0.028140900757288867, 0.09443339785102278, 0.046413389338734706, 0.09012730828452702, 0.012916950271937712, 0.046958942864177206, 0.05110762947310635, 0.07851758406395798, 0.0146306532743643, 0.014995004351825396], "count": [1093]}, "action": {"min": [-0.7214285714285715, -1.0, -0.18857142857142858, 0.0, -1.0, -0.7428571428571429, -0.5785714285714286, -0.4928571428571429, -0.13142857142857142, -0.14, -0.14285714285714285, -1.0], "max": [1.0, 1.0, 0.12, 0.0, 1.0, 0.7428571428571429, 0.5785714285714286, 0.5714285714285715, 0.18857142857142858, 0.19714285714285715, 0.014285714285714287, 1.0], "mean": [0.08609332113449224, 0.01730492746046268, -0.0007554568030322837, 0.0, -0.5333943275388838, 0.0012678081296562873, -0.00269899359560842, -0.008221147562410151, 0.001921317474839889, -0.0005358776630505824, -0.001045614952293818, 0.1546203110704483], "std": [0.2717679195052353, 0.36213751735802213, 0.042161352763578776, 0.0, 0.8458667101555334, 0.15785528527269094, 0.10592959740469807, 0.15480583150506178, 0.02672713594044948, 0.026929774781444298, 0.009398757497966651, 0.9879739669669778], "count": [1093]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014638609252870083], "std": [0.12010128796100616], "count": [1093]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009149130832570906], "std": [0.030233690104040815], "count": [1093]}, "timestamp": {"min": [0.0], "max": [54.6], "mean": [27.3], "std": [15.776089502788707], "count": [1093]}, "frame_index": {"min": [0], "max": [1092], "mean": [546.0], "std": [315.52179005577415], "count": [1093]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1093]}, "index": {"min": [26510], "max": [27602], "mean": [27056.0], "std": [315.52179005577415], "count": [1093]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1093]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6330711516966556]], [[0.6173057238588966]], [[0.5786242757665361]]], "std": [[[0.27090468138003926]], [[0.3039506286833189]], [[0.3360134247289607]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5517791152287481]], [[0.5330950503091776]], [[0.5209705857997667]]], "std": [[[0.2538175263795475]], [[0.26602023694958393]], [[0.27230601844585756]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.504861800564824]], [[0.49479239338814784]], [[0.4882197550329753]]], "std": [[[0.26729279965512037]], [[0.26928105226695087]], [[0.27131583299544393]]], "count": [228]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1398]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1398]}, "observation.state": {"min": [0.8868354001648706, -4.481254239271924, 0.69999569682125, 0.0, 0.0, 0.602297306060791, 0.13050419092178345, 0.015281554399771302, -0.12105781969609941, 0.2973970249697674, -0.9940409064292908, -0.20053508877754211, -0.29015952348709106, 1.3513812518795021e-05, 0.005220035184069674, -0.0401223674991498], "max": [3.4971597732998068, -1.733919686693402, 0.7002288912285249, 0.0, 0.0, 0.9914478063583374, 0.7982719540596008, 0.6774915528460457, 0.1065364972784395, 0.5810605019527567, 0.9938164949417114, 0.09550413489341736, 0.12354493886232376, 0.2853434085845947, 0.040020800066813855, -0.004634628940031403], "mean": [2.697402507959795, -3.653028963181318, 0.7000456153189305, 0.0, 0.0, 0.759559597708125, 0.5920541579162273, 0.44521395948847575, -0.009747855312881104, 0.4273935707487642, -0.7581766312129167, -0.09758500646112303, -0.08019198972641228, 0.14032365402257949, 0.02196766357579626, -0.02122106860741885], "std": [1.1188386916741162, 1.0929449881918603, 5.6978738563737236e-05, 0.0, 0.0, 0.12444597456559978, 0.2388603847610739, 0.1686963094789285, 0.06143933652990197, 0.08294341093024041, 0.6016750048709197, 0.09943776918453465, 0.08999888750386867, 0.09758791590077526, 0.014534086999088978, 0.014984727992910346], "count": [1398]}, "action": {"min": [-0.6285714285714287, -0.6642857142857144, -0.12857142857142856, 0.0, -1.0, -0.7928571428571428, -0.3, -0.45, -0.18, -0.15142857142857147, -0.06571428571428571, -1.0], "max": [1.0, 0.8714285714285716, 0.5628571428571428, 0.0, 1.0, 0.5571428571428572, 0.37142857142857144, 0.7571428571428572, 0.10285714285714286, 0.11142857142857143, 0.09142857142857143, 1.0], "mean": [0.056483752299202945, 0.06774473737993052, 0.015054159002656857, 0.0, -0.5650929899856938, -0.015486409155937051, 0.002048845289188638, -0.007035561005518084, 0.0003249540159411402, -0.0009074187614960141, 0.001093398732883711, 0.19599427753934193], "std": [0.1997152340982091, 0.20897597188613412, 0.09852762284028437, 0.0, 0.8250272193503829, 0.1736025945484261, 0.07987464491276149, 0.13258279633076603, 0.0234765496373205, 0.024876910740804736, 0.016334626154404397, 0.9806050393363408], "count": [1398]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018597997725009918], "std": [0.1351003646850586], "count": [1398]}, "next.done": {"min": [false], "max": [true], "mean": [0.000715307582260372], "std": [0.02673566751220423], "count": [1398]}, "timestamp": {"min": [0.0], "max": [69.85], "mean": [34.925000000000004], "std": [20.178386745888947], "count": [1398]}, "frame_index": {"min": [0], "max": [1397], "mean": [698.5], "std": [403.5677349177789], "count": [1398]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1398]}, "index": {"min": [27603], "max": [29000], "mean": [28301.5], "std": [403.5677349177789], "count": [1398]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1398]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6520081262885854]], [[0.5212821640820668]], [[0.4528803208295037]]], "std": [[[0.18297363828128424]], [[0.25510740206221894]], [[0.2772755372825379]]], "count": [183]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6395666505214194]], [[0.6058380964036593]], [[0.5729582497688603]]], "std": [[[0.254257568011433]], [[0.24104394084006106]], [[0.2263628716662015]]], "count": [183]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6686317926969072]], [[0.6374817541962994]], [[0.6043079382351686]]], "std": [[[0.24944670582693765]], [[0.22953923067055595]], [[0.2103327639761593]]], "count": [183]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1044]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1044]}, "observation.state": {"min": [1.6909394816132086, -4.605272784328515, 0.6999956440551054, 0.0, 0.0, 0.6176217198371887, 0.7071021199226379, 0.23878373384810692, -0.000727637337345044, 0.2676599648085246, -0.993872344493866, -0.17450878024101257, -0.1644289195537567, 0.023178158327937126, 0.002183297296783543, -0.0397915076689334], "max": [4.242498135303669, -1.0260936330733752, 0.7003548687058707, 0.0, 0.0, 0.7071114182472229, 0.7864753007888794, 0.6316883174455978, 0.20640897434906336, 0.6135459351059523, -0.9218966960906982, 0.08222296833992004, 0.16735705733299255, 0.368206650018692, 0.04002779886008197, -0.0035427889411917377], "mean": [3.4119212145001296, -3.2603090916352695, 0.7000996656986551, 0.0, 0.0, 0.6853023025838808, 0.7270329442174955, 0.44703561124579727, 0.10699875006977495, 0.4299873588875527, -0.9557271882948748, 0.0005158692013144036, 0.04491236632658834, 0.21738774121392845, 0.020982312728963393, -0.01980585446854245], "std": [1.071899476650085, 1.305423712454209, 0.00012326065184487653, 0.0, 0.0, 0.03126036969449839, 0.028401277765331565, 0.09594239814555441, 0.05358998183978355, 0.09034947266705652, 0.024464622153592602, 0.08606390567593918, 0.12009878241108189, 0.12198971730262859, 0.013608880103818648, 0.013899018732561998], "count": [1044]}, "action": {"min": [-0.9214285714285714, -0.8714285714285716, -0.07714285714285714, 0.0, -1.0, -0.6785714285714286, -0.36428571428571427, -0.42142857142857143, -0.14857142857142858, -0.1457142857142857, -0.18, -1.0], "max": [1.0, 1.0, 0.09428571428571429, 0.0, 1.0, 0.9214285714285714, 0.28571428571428575, 0.5, 0.23428571428571432, 0.2542857142857143, 0.06571428571428571, 1.0], "mean": [0.07653940886699505, 0.08869047619047626, -0.004447181171319097, 0.0, -0.446360153256705, 0.0048440065681444764, 0.0046866447728516804, -0.007936507936507934, 0.0048166392993979285, 0.0019348659003831418, -0.0006951286261631069, 0.3218390804597701], "std": [0.3008486923974437, 0.25645068822113143, 0.0219460711555622, 0.0, 0.8948534034045182, 0.17996444375475742, 0.08406945307269785, 0.1722517624662301, 0.03171819457850816, 0.04015668520808044, 0.022668592021472603, 0.946794384377537], "count": [1044]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015325670130550861], "std": [0.12284459173679352], "count": [1044]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009578544061302681], "std": [0.030934397053553914], "count": [1044]}, "timestamp": {"min": [0.0], "max": [52.15], "mean": [26.075], "std": [15.068835113128905], "count": [1044]}, "frame_index": {"min": [0], "max": [1043], "mean": [521.5], "std": [301.37670226257814], "count": [1044]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1044]}, "index": {"min": [29001], "max": [30044], "mean": [29522.5], "std": [301.37670226257814], "count": [1044]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1044]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6750087550671858]], [[0.6774214199320179]], [[0.6254079645060957]]], "std": [[[0.25264305298663997]], [[0.24070290650529982]], [[0.2508065677701726]]], "count": [202]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5624488725404883]], [[0.5006248677038402]], [[0.450531749692016]]], "std": [[[0.23022855081777865]], [[0.2586432559382021]], [[0.2721259736337724]]], "count": [202]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5459992349691656]], [[0.4855582816187467]], [[0.43897898930805307]]], "std": [[[0.24070053515657028]], [[0.26781852158439706]], [[0.28123057110074007]]], "count": [202]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1187]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1187]}, "observation.state": {"min": [-3.055209132428452, -5.583499439335708, 0.6999968932528905, 0.0, 0.0, 0.03171583265066147, 0.7065272927284241, 0.027073922490887803, -0.24293741951547299, 0.2965639621704097, -0.9997528195381165, -0.06595972180366516, -0.17055930197238922, 0.0005476644728332758, 0.002734916121318432, -0.04001066531808488], "max": [-0.834058720951852, -2.835206356717171, 0.7001672552340003, 0.0, 0.0, 0.7076858282089233, 0.9994969367980957, 0.5611465664422131, 0.06349355961129888, 0.6004316361831136, 0.9989256262779236, 0.35593897104263306, 0.1667194664478302, 0.318061500787735, 0.0400178025051373, -0.0036986423929921824], "mean": [-2.3646904199912324, -4.580255996994695, 0.7000428232343296, 0.0, 0.0, 0.5436723184628254, 0.7842431522861889, 0.35929401855947596, -0.11460016456101657, 0.4206391854036633, -0.3405016634578753, 0.11055170611745938, -0.04310220940324304, 0.1532378690020105, 0.02226990886588545, -0.021614377339794974], "std": [0.9020265087266108, 1.1221592946968328, 6.794465235521459e-05, 0.0, 0.0, 0.2724460048732728, 0.12311075161563129, 0.1187097196489233, 0.10954777778390987, 0.06660061796575055, 0.9076311793918583, 0.086350771951518, 0.0896941381802705, 0.08486130582769076, 0.014333164369152183, 0.01458460333902825], "count": [1187]}, "action": {"min": [-0.8428571428571429, -0.7285714285714285, -0.38857142857142857, 0.0, -1.0, -0.807142857142857, -0.40714285714285714, -0.31428571428571433, -0.08571428571428572, -0.11714285714285716, -0.3, -1.0], "max": [0.8571428571428572, 0.6214285714285714, 0.002857142857142857, 0.0, 1.0, 0.42142857142857143, 0.3428571428571429, 0.5428571428571429, 0.19428571428571428, 0.12857142857142856, 0.07714285714285714, 1.0], "mean": [0.11065110121554944, -0.04280900228667711, -0.028617162113371043, 0.0, -0.42375737152485254, -0.01394873029245398, -0.006089782163918635, -0.005806956312432317, 0.0011938861475508506, 0.000399566734865809, -0.005006619328439036, 0.2013479359730413], "std": [0.24049871970502026, 0.1709914827982965, 0.08255120480107073, 0.0, 0.9057757393959867, 0.16192402616675317, 0.0872572440836623, 0.14460426416255312, 0.028705275770711386, 0.019858132947660447, 0.04973704083769549, 0.979519784730971], "count": [1187]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013479359447956085], "std": [0.1153155043721199], "count": [1187]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008424599831508003], "std": [0.029012932363475255], "count": [1187]}, "timestamp": {"min": [0.0], "max": [59.3], "mean": [29.650000000000002], "std": [17.132863158269842], "count": [1187]}, "frame_index": {"min": [0], "max": [1186], "mean": [593.0], "std": [342.6572631653968], "count": [1187]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1187]}, "index": {"min": [30045], "max": [31231], "mean": [30638.0], "std": [342.6572631653968], "count": [1187]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1187]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5211254673885245]], [[0.42224896930573297]], [[0.3338890338533012]]], "std": [[[0.13824109890681716]], [[0.1608125553330522]], [[0.1608238678213536]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5963197541841706]], [[0.5217786006942281]], [[0.46855632173033845]]], "std": [[[0.18289543811779427]], [[0.21336496780986342]], [[0.23511699323847038]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5781204036003967]], [[0.5113075953617013]], [[0.4649232086185021]]], "std": [[[0.2048601338982301]], [[0.2285491590944395]], [[0.24763062807908393]]], "count": [177]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [997]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [997]}, "observation.state": {"min": [1.0516375408008873, -3.5398162109807023, 0.699996322723742, 0.0, 0.0, 0.6689592599868774, 0.7069957256317139, 0.06396574233445929, -0.23132515963997724, 0.2561299749800191, -0.9932607412338257, -0.10685628652572632, -0.2056625336408615, 0.005512713920325041, 0.004170665824443834, -0.03988797329405572], "max": [2.71975670399299, -0.7670113223915523, 0.7004845322404261, 0.0, 0.0, 0.707217812538147, 0.7432990670204163, 0.7184322430300081, 0.192428476618137, 0.595590523022358, -0.9073033332824707, 0.04634635150432587, -0.017777996137738228, 0.41852080821990967, 0.040027556116768684, -0.004615611909428189], "mean": [1.5035532394418663, -2.802270779118197, 0.7000835130851956, 0.0, 0.0, 0.6991599564447087, 0.7146723990813421, 0.44898678026440586, -0.1010640863403553, 0.3939893922920195, -0.954796904845606, -0.014596732346380247, -0.0964139692182676, 0.24433646180107443, 0.022935713548363223, -0.02199703280193612], "std": [0.6247386771529405, 1.1664569370405227, 0.00013096783188244195, 0.0, 0.0, 0.014836067385301924, 0.01409160910402601, 0.21433329607291848, 0.1159783527636943, 0.08451423074487091, 0.025459713836967907, 0.04103272612844996, 0.04414268864496968, 0.12195648828823157, 0.014068813152815406, 0.01443298543560336], "count": [997]}, "action": {"min": [-0.13571428571428573, -0.8428571428571429, -0.07428571428571429, 0.0, -1.0, -0.8428571428571429, -0.5428571428571429, -0.3785714285714286, -0.12285714285714287, -0.1, -0.11714285714285716, -1.0], "max": [0.9928571428571428, 0.6500000000000001, 0.0, 0.0, 1.0, 0.7928571428571428, 0.8214285714285715, 0.4785714285714286, 0.13428571428571429, 0.08571428571428572, 0.12, 1.0], "mean": [0.0949276400630463, -0.0307923771313942, -0.00292878635907723, 0.0, -0.5466399197592778, -0.014529302192291156, 0.012265367531164915, -0.01013755552371404, 0.002662272531881359, 0.00030376844820174953, 0.0013870181974494928, 0.16950852557673018], "std": [0.24459410491515524, 0.2315299215667515, 0.012368688216480007, 0.0, 0.8373677794885341, 0.23765175257354548, 0.17949057568283822, 0.1502637829382603, 0.02442792949205666, 0.020052686869221993, 0.016413544743467377, 0.9855287209192939], "count": [997]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016048144549131393], "std": [0.12566065788269043], "count": [997]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010030090270812437], "std": [0.03165443096902608], "count": [997]}, "timestamp": {"min": [0.0], "max": [49.8], "mean": [24.9], "std": [14.390448220955454], "count": [997]}, "frame_index": {"min": [0], "max": [996], "mean": [498.0], "std": [287.8089644191091], "count": [997]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [997]}, "index": {"min": [31232], "max": [32228], "mean": [31730.0], "std": [287.8089644191091], "count": [997]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [997]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38956630945919585]], [[0.36810335601273103]], [[0.3069847411284018]]], "std": [[[0.24871686418138875]], [[0.22785845547948455]], [[0.19796907357518628]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5447795121045456]], [[0.4711214209805015]], [[0.44683922371817797]]], "std": [[[0.26198219885003937]], [[0.28622611735383247]], [[0.3010099025303943]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.600065568724796]], [[0.5239974977059789]], [[0.49597476003804]]], "std": [[[0.24848666059279337]], [[0.28776027704449425]], [[0.3075962119144719]]], "count": [203]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1194]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1194]}, "observation.state": {"min": [0.6425266104326147, -4.330069600569148, 0.6999971330351901, 0.0, 0.0, -0.7552794218063354, 0.6554029583930969, 0.07980979373051511, -0.09561863672455106, 0.30673400888268976, -0.9895133972167969, -0.07590770721435547, -0.19777148962020874, 0.010632524266839027, 0.0029069426527773465, -0.03983127440558731], "max": [2.3687263737620228, -1.7081596009509414, 0.7002194188925226, 0.0, 0.0, -0.7063942551612854, 0.7078185081481934, 0.6294644010538482, 0.17414778119659546, 0.6002296846276103, -0.954986572265625, 0.2318039834499359, 0.1324891895055771, 0.2691449522972107, 0.040020740012899333, -0.0025815579422299], "mean": [1.6858099642823376, -2.43153450971163, 0.7000373196602343, 0.0, 0.0, -0.7166511504294685, 0.6968980089603757, 0.4232527419496774, 0.023170749112315366, 0.4356636100807186, -0.9678040262143216, 0.08326855471585463, 0.036410286730924675, 0.1643292372336477, 0.021161061014058957, -0.020315477987189544], "std": [0.4119034270041288, 1.03072803081336, 6.78963964950213e-05, 0.0, 0.0, 0.01861382327282902, 0.01994566473129301, 0.13840366358170308, 0.09466252258317034, 0.08482758413008307, 0.008673170913418819, 0.11873243581069838, 0.08893066159658561, 0.07752823299407015, 0.01679446833718622, 0.01724748617986305], "count": [1194]}, "action": {"min": [-0.55, -0.8857142857142857, -0.1, 0.0, -1.0, -0.8357142857142857, -0.27142857142857146, -0.28571428571428575, -0.14285714285714285, -0.1, -0.1457142857142857, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.55, 0.3785714285714286, 0.4714285714285715, 0.09428571428571429, 0.12571428571428572, 0.05142857142857143, 1.0], "mean": [0.06534458004307248, 0.015350562335486952, -0.0032112945680784883, 0.0, -0.661641541038526, -0.011390284757118903, 0.002458722182340304, -0.0072026800670016745, 0.003220866235941614, 0.0007681263460157858, 0.00037090212969610086, 0.09045226130653267], "std": [0.22523824080883706, 0.24114452012816998, 0.013364316787350344, 0.0, 0.7498202925849411, 0.1711473981438036, 0.08408343360226068, 0.13433447960987682, 0.01934324016770727, 0.02330834586162102, 0.019106432035219882, 0.9959007924610436], "count": [1194]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013400334864854813], "std": [0.11498159915208817], "count": [1194]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008375209380234506], "std": [0.028927832561424692], "count": [1194]}, "timestamp": {"min": [0.0], "max": [59.65], "mean": [29.825000000000003], "std": [17.233899491022534], "count": [1194]}, "frame_index": {"min": [0], "max": [1193], "mean": [596.5], "std": [344.67798982045065], "count": [1194]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1194]}, "index": {"min": [32229], "max": [33422], "mean": [32825.5], "std": [344.67798982045065], "count": [1194]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1194]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6047218910056608]], [[0.5682615738635316]], [[0.465489275730773]]], "std": [[[0.2003631964764685]], [[0.18643057197032126]], [[0.21683005705500366]]], "count": [216]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6151592600925642]], [[0.5967261907927957]], [[0.5611116978597537]]], "std": [[[0.19123868489993937]], [[0.1929775372848484]], [[0.19574359980159292]]], "count": [216]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6339517342672023]], [[0.6194616205552045]], [[0.5860832737941368]]], "std": [[[0.18708555469337068]], [[0.19009669947831095]], [[0.19434745290249894]]], "count": [216]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1296]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1296]}, "observation.state": {"min": [0.8515067129199042, -4.95670730870973, 0.6999963887934364, 0.0, 0.0, -1.0, 1.2759537071360683e-07, 0.10215829878770255, -0.16468162883637572, 0.2972483904667368, -0.990453839302063, -0.21489644050598145, -0.18312396109104156, 0.02605699561536312, 0.0027708433823198228, -0.04000948797181468], "max": [4.073408195184715, -2.548674866582233, 0.7001964877344805, 0.0, 0.0, 1.0, 0.007357022259384394, 0.6158055499998865, 0.17338905966929818, 0.5946175282654804, -0.9150645732879639, 0.23792243003845215, 0.1236976683139801, 0.3699854910373688, 0.040028910750029366, -0.0026304769753627954], "mean": [3.125182239955517, -3.079256409099818, 0.7000489850969758, 0.0, 0.0, 0.4058700879966771, 0.002113085632714926, 0.34810388084722244, 0.002878710622566669, 0.42735455741308853, -0.9508498966417931, -0.03309170269395834, -0.010457103694613052, 0.23189813861577416, 0.01897145708909906, -0.01774496136455101], "std": [1.3699459763525068, 0.7394867648372165, 6.761434991370209e-05, 0.0, 0.0, 0.9139240022877579, 0.002822355336348679, 0.18346130229506952, 0.08649035060978022, 0.08277961345395463, 0.027030558036447442, 0.12206091555863366, 0.10865906887498689, 0.11604743562287193, 0.01461068085059344, 0.015108994109844868], "count": [1296]}, "action": {"min": [-0.0642857142857143, -0.7428571428571429, 0.0, 0.0, -1.0, -0.6214285714285714, -0.4357142857142858, -0.40714285714285714, -0.10857142857142858, -0.1142857142857143, -0.21142857142857144, -1.0], "max": [0.9071428571428573, 0.8142857142857143, 0.017142857142857144, 0.0, 1.0, 0.5928571428571429, 0.4785714285714286, 0.4785714285714286, 0.2285714285714286, 0.1457142857142857, 0.26, 1.0], "mean": [0.08904320987654317, 0.028113977072310455, 0.0003306878306878307, 0.0, -0.4645061728395062, -0.00866953262786596, -0.004850088183421503, -0.006332671957671975, 0.002868165784832452, 0.0012786596119929454, -0.0018915343915343902, 0.3333333333333333], "std": [0.22242820192415674, 0.2603761067744005, 0.0019483098749076577, 0.0, 0.8855698817111993, 0.1553635785329902, 0.09777387812063251, 0.13744692601130667, 0.02610025112001505, 0.021925230846257065, 0.03720707142682896, 0.9428090415820685], "count": [1296]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012345679104328156], "std": [0.11042311042547226], "count": [1296]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007716049382716049], "std": [0.0277670589744546], "count": [1296]}, "timestamp": {"min": [0.0], "max": [64.75], "mean": [32.375], "std": [18.70614315316406], "count": [1296]}, "frame_index": {"min": [0], "max": [1295], "mean": [647.5], "std": [374.1228630632812], "count": [1296]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1296]}, "index": {"min": [33423], "max": [34718], "mean": [34070.5], "std": [374.1228630632812], "count": [1296]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1296]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7421878764378621]], [[0.7258792826878621]], [[0.6274521223987345]]], "std": [[[0.22768152625926838]], [[0.23208765895995706]], [[0.30075122888360806]]], "count": [165]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6037180089468908]], [[0.538125090664225]], [[0.48488933742294266]]], "std": [[[0.22564090501057532]], [[0.23365992016723242]], [[0.2483873364241168]]], "count": [165]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5968393551786244]], [[0.545711329387046]], [[0.5048410746800496]]], "std": [[[0.24530050964389644]], [[0.2543030468593156]], [[0.2690679129565098]]], "count": [165]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [912]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [912]}, "observation.state": {"min": [3.3764527872455417, -4.281076327722896, 0.699997000558329, 0.0, 0.0, -1.0, 8.410266309510916e-05, 0.20611274953305792, -0.28348757720967255, 0.29888789003596894, -0.9997187256813049, -0.24324724078178406, -0.14010147750377655, 0.00017365707026328892, 0.0029529730282704305, -0.040003771472657226], "max": [6.307277993858898, -2.888885366186315, 0.7001279513447485, 0.0, 0.0, 1.0, 0.20778857171535492, 0.58793342803851, 0.08151830704951557, 0.5946532010121208, 0.9981197118759155, 0.33024826645851135, 0.15974953770637512, 0.4733661413192749, 0.04003113167329381, -0.003033440916239607], "mean": [5.626183292403726, -3.2550629389490355, 0.7000170252397464, 0.0, 0.0, -0.38844132606397597, 0.04799336344872005, 0.43247938830670596, -0.11592195133889295, 0.42985169814190105, -0.30729292202414127, 0.09047855910428457, -0.009522723913542513, 0.22968765380416076, 0.0209875888608144, -0.01988166089649786], "std": [1.1841138671108102, 0.5667345373150616, 2.8366716016677893e-05, 0.0, 0.0, 0.9164444469806593, 0.08330413524398136, 0.11181301806778299, 0.12560444819285704, 0.0899614785249969, 0.8803330511452252, 0.18016564384612133, 0.06486100788451953, 0.1813413913899419, 0.016208419258618333, 0.016851268936160714], "count": [912]}, "action": {"min": [-0.15, 0.0, -0.1742857142857143, 0.0, -1.0, -0.7928571428571428, -0.6142857142857143, -0.45, -0.16857142857142857, -0.22285714285714286, -0.3057142857142857, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.4928571428571429, 0.3357142857142857, 0.7285714285714285, 0.2914285714285714, 0.18857142857142858, 0.18857142857142858, 1.0], "mean": [0.09144736842105264, 0.053681077694235635, -0.012575187969924812, 0.0, -0.7083333333333334, -0.004119674185463702, -0.01722274436090226, -0.0031484962406015276, 0.0049906015037593935, 0.0027819548872180457, -0.008822055137844616, 0.125], "std": [0.2815337236689291, 0.1963373827250877, 0.03942514768709236, 0.0, 0.7058780977540594, 0.194499617800004, 0.12895480425874825, 0.19724040521052866, 0.043462154989401196, 0.036704977270612685, 0.06691082544095514, 0.9921567416492215], "count": [912]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017543859779834747], "std": [0.13128623366355896], "count": [912]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010964912280701754], "std": [0.033095149721023176], "count": [912]}, "timestamp": {"min": [0.0], "max": [45.55], "mean": [22.775], "std": [13.163578224277268], "count": [912]}, "frame_index": {"min": [0], "max": [911], "mean": [455.5], "std": [263.27156448554535], "count": [912]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [912]}, "index": {"min": [34719], "max": [35630], "mean": [35174.5], "std": [263.27156448554535], "count": [912]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [912]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.624786042957222]], [[0.6351854352580876]], [[0.6065318726978096]]], "std": [[[0.22120402512257328]], [[0.20449051596727463]], [[0.21646937358317575]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5628734932083185]], [[0.5469522992912985]], [[0.5266966866702736]]], "std": [[[0.24579316787441563]], [[0.23274432256046407]], [[0.22064908980073214]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5946781092808218]], [[0.5746391030777545]], [[0.5516072514821357]]], "std": [[[0.24712616629341264]], [[0.2329122874995664]], [[0.2200655796284545]]], "count": [196]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1140]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1140]}, "observation.state": {"min": [1.026705675624956, -5.066971135929294, 0.6999959733666173, 0.0, 0.0, -1.0, 1.39373938168319e-07, 0.2452865739133161, -0.20592313265976658, 0.29945042794396803, -0.9937819838523865, -0.26713740825653076, -0.18759199976921082, 9.800362022360787e-05, 0.004297621792067556, -0.0399749946763898], "max": [4.298368476156389, -3.1568524073404154, 0.7002573019793453, 0.0, 0.0, 1.0, 0.24933172762393951, 0.6650963046802802, 0.14972992005721553, 0.6005829591546172, 0.9843026399612427, 0.07085740566253662, 0.20252184569835663, 0.25167208909988403, 0.04002158118406571, -0.0038005680033471097], "mean": [3.0244519300118142, -3.378746605477316, 0.7000498860820645, 0.0, 0.0, 0.6043885710992312, 0.03702442614297766, 0.45560552446011926, -0.07487901891761015, 0.4520666239677158, -0.8948396284852111, -0.06930323492147421, -0.04879497324728666, 0.1554485901563391, 0.020620033724276995, -0.019704854200858154], "std": [1.248852828002951, 0.5292033875565162, 6.592835731342037e-05, 0.0, 0.0, 0.7934152562557371, 0.06193459856747864, 0.15857309182828816, 0.10507229955254267, 0.09994706397794247, 0.38449268476082527, 0.05325401125879258, 0.09608965966664772, 0.08949887918113751, 0.015475721376596318, 0.01600477610073684], "count": [1140]}, "action": {"min": [-0.8642857142857142, -0.8357142857142857, -0.26285714285714284, 0.0, -1.0, -0.7214285714285715, -0.6785714285714286, -0.4285714285714286, -0.04285714285714286, -0.15714285714285714, -0.15428571428571428, -1.0], "max": [1.0, 1.0, 0.24, 0.0, 1.0, 0.95, 0.6928571428571428, 0.45714285714285713, 0.12571428571428572, 0.15142857142857147, 0.22285714285714286, 1.0], "mean": [0.08572055137844614, 0.029874686716791967, -0.0021177944862155423, 0.0, -0.5280701754385965, 0.002205513784461201, -0.012819548872180451, -0.009241854636591476, 0.003030075187969925, -0.0002130325814536342, 0.0009047619047619053, 0.1912280701754386], "std": [0.260459758264167, 0.31207470516550456, 0.05735166500249644, 0.0, 0.8492007358759455, 0.1979723242954107, 0.14754434125408494, 0.15796018889957766, 0.017717362430725702, 0.029559925635654374, 0.03679212498178776, 0.9815456307156524], "count": [1140]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014035088010132313], "std": [0.11763548105955124], "count": [1140]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008771929824561404], "std": [0.029604450931028432], "count": [1140]}, "timestamp": {"min": [0.0], "max": [56.95], "mean": [28.475], "std": [16.45447634130806], "count": [1140]}, "frame_index": {"min": [0], "max": [1139], "mean": [569.5], "std": [329.0895268261612], "count": [1140]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1140]}, "index": {"min": [35631], "max": [36770], "mean": [36200.5], "std": [329.0895268261612], "count": [1140]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1140]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34121455167665554]], [[0.3553793852423478]], [[0.32398628158127524]]], "std": [[[0.23525491634672124]], [[0.2315203808165411]], [[0.20074755542168585]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4731148219551847]], [[0.4547426948675256]], [[0.42886998731649395]]], "std": [[[0.24348938486619956]], [[0.23021389993118233]], [[0.21866588891368696]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48110679309445403]], [[0.4625258929698215]], [[0.43548334306373737]]], "std": [[[0.2400091413453953]], [[0.22856024065669733]], [[0.2188531959289728]]], "count": [193]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1122]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1122]}, "observation.state": {"min": [1.3517733146255413, -3.6328156761086716, 0.6999966956936391, 0.0, 0.0, -1.0, 1.3459113290537061e-07, 0.24962140715005265, -0.5121022852432349, 0.29184071209874185, -0.9976940751075745, -0.3010585904121399, -0.2251017689704895, 0.0010988757712766528, 0.004007356707195244, -0.04000559602304675], "max": [3.9267215362055192, -1.0593092527950554, 0.7003340893960305, 0.0, 0.0, 1.0, 0.68386310338974, 0.6145533239947776, 0.1050427610636584, 0.5964222855540803, 0.9891084432601929, 0.3231733441352844, 0.2292030304670334, 0.3339422345161438, 0.04002209324024153, -0.004756240849315436], "mean": [3.1759724009734933, -2.792651250385361, 0.7000942604437688, 0.0, 0.0, 0.14928686719739714, 0.18804501291757658, 0.42155407498597147, -0.21308696950193123, 0.4669226989297881, -0.5643174341761917, 0.06047975332368291, 0.03258973365459602, 0.1812662540728711, 0.019587887857988304, -0.01896513422938088], "std": [0.8343084021554797, 1.09793887415337, 0.0001164491944129763, 0.0, 0.0, 0.9251882688501145, 0.29390335903243553, 0.1259909766841352, 0.1997202564515361, 0.1117557665945106, 0.7753651304203492, 0.12917777104853875, 0.10004001858413487, 0.12681678962140872, 0.015424429233536652, 0.01576534250876901], "count": [1122]}, "action": {"min": [-0.7285714285714285, -1.0, -0.4371428571428572, 0.0, -1.0, -0.8357142857142857, -0.6642857142857144, -0.4785714285714286, -0.12285714285714287, -0.13142857142857142, -0.22285714285714286, -1.0], "max": [1.0, 0.17857142857142858, 0.05714285714285715, 0.0, 1.0, 0.4285714285714286, 0.3, 0.5142857142857143, 0.28, 0.12571428571428572, 0.06285714285714286, 1.0], "mean": [0.11148459383753509, -0.08401451489686781, -0.02699006875477464, 0.0, -0.43493761140819964, 0.0008976317799847275, -0.033295136236312736, -0.00721288515406159, 0.002503183091418386, 0.0024904507257448426, -0.0048637636872931, 0.24064171122994651], "std": [0.2607590152981839, 0.2110998921680767, 0.09318926682690502, 0.0, 0.9004605900218647, 0.18023584907357762, 0.12557215652454154, 0.16822413708116815, 0.03249770513895649, 0.02114058562126827, 0.03504720254196126, 0.9706140153615761], "count": [1122]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014260249212384224], "std": [0.1185617744922638], "count": [1122]}, "next.done": {"min": [false], "max": [true], "mean": [0.00089126559714795], "std": [0.02984076478214475], "count": [1122]}, "timestamp": {"min": [0.0], "max": [56.05], "mean": [28.025], "std": [16.19466861861232], "count": [1122]}, "frame_index": {"min": [0], "max": [1121], "mean": [560.5], "std": [323.8933723722464], "count": [1122]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1122]}, "index": {"min": [36771], "max": [37892], "mean": [37331.5], "std": [323.8933723722464], "count": [1122]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1122]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6305454474785654]], [[0.6340487358475897]], [[0.5804051859952719]]], "std": [[[0.2022337233928078]], [[0.18038054555853764]], [[0.18410784332873908]]], "count": [199]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6106719125748996]], [[0.6063628353547764]], [[0.5781576537183851]]], "std": [[[0.19197621058937922]], [[0.1936720837134695]], [[0.19435044545348368]]], "count": [199]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6245530282867309]], [[0.6191599070937754]], [[0.5913958414280541]]], "std": [[[0.19379631611855566]], [[0.19741377281237044]], [[0.19897172658240117]]], "count": [199]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1164]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1164]}, "observation.state": {"min": [1.3681179631644642, -3.346983037884687, 0.6999948611619733, 0.0, 0.0, 0.693020224571228, 0.7070341110229492, 0.06722034267199928, -0.13361639413498017, 0.30569813528904455, -0.9885615706443787, -0.03430826961994171, -0.2718566358089447, 0.031798675656318665, 0.0046384279252046886, -0.04009519252690802], "max": [2.684542770114355, -0.802715429430759, 0.7003007032052502, 0.0, 0.0, 0.7071795463562012, 0.7209182381629944, 0.5335958829522411, 0.08456262666887593, 0.6258800456632643, -0.9461013078689575, 0.16191646456718445, 0.004764499608427286, 0.31407544016838074, 0.04002477439624593, -0.0042673011858921405], "mean": [2.2490096049949826, -2.4548032383919534, 0.7001063049421553, 0.0, 0.0, 0.7032159427596941, 0.7109253162780578, 0.3200196032259614, -0.02487852800221279, 0.5199907720209068, -0.9657106710873109, 0.027783898399867554, -0.12967287472532607, 0.17144807518693486, 0.020639530643491024, -0.019704933141146963], "std": [0.5773120836327765, 1.0155548634964557, 9.999352319488113e-05, 0.0, 0.0, 0.006080240729001394, 0.005962690778778259, 0.14159268420248108, 0.07035774953751575, 0.08752403904459599, 0.011163344017241226, 0.05363807481703592, 0.07688165222391666, 0.10728003562015265, 0.01435235538769664, 0.01469109420992402], "count": [1164]}, "action": {"min": [-0.6, -0.41428571428571426, -0.04857142857142857, 0.0, -1.0, -0.8642857142857142, -0.40714285714285714, -0.5285714285714286, -0.06571428571428571, -0.1, -0.04285714285714286, -1.0], "max": [1.0, 0.7785714285714286, 0.0, 0.0, 1.0, 0.4285714285714286, 0.42142857142857143, 0.4357142857142858, 0.22, 0.1657142857142857, 0.10571428571428572, 1.0], "mean": [0.06389911634756994, 0.03667771232204227, -0.0008959253804614632, 0.0, -0.5549828178694158, -0.011131566028473216, -0.006259204712812968, -0.007241040746195404, 0.0033848797250859096, -0.0008345606283750611, 3.190967108492637e-05, 0.27491408934707906], "std": [0.23040497768063664, 0.16550764118965794, 0.0058420579556767716, 0.0, 0.8318618105609306, 0.1674851510987373, 0.09966108357131714, 0.14722724523490796, 0.025150544385475784, 0.024258798114525353, 0.014699184574245775, 0.9614687948542313], "count": [1164]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013745704665780067], "std": [0.11643350124359131], "count": [1164]}, "next.done": {"min": [false], "max": [true], "mean": [0.000859106529209622], "std": [0.02929792595357377], "count": [1164]}, "timestamp": {"min": [0.0], "max": [58.15], "mean": [29.075000000000003], "std": [16.80088663334964], "count": [1164]}, "frame_index": {"min": [0], "max": [1163], "mean": [581.5], "std": [336.01773266699286], "count": [1164]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1164]}, "index": {"min": [37893], "max": [39056], "mean": [38474.5], "std": [336.01773266699286], "count": [1164]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1164]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7194246144014246]], [[0.6193235309077244]], [[0.5344978667614507]]], "std": [[[0.17226050914567623]], [[0.16138917877414544]], [[0.2103190883262912]]], "count": [200]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6291320375928692]], [[0.531758970971201]], [[0.4472400799919577]]], "std": [[[0.19661207647558956]], [[0.18253053567868183]], [[0.21163982979776166]]], "count": [200]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6347366309072457]], [[0.5258454269708372]], [[0.43163957842658546]]], "std": [[[0.20601408316993228]], [[0.19187306866582726]], [[0.226824652152067]]], "count": [200]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1177]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1177]}, "observation.state": {"min": [0.8525862626735085, -4.041202231389051, 0.699995719286269, 0.0, 0.0, 0.6486949324607849, 0.14884646236896515, 0.15460053916582162, -0.18341601916016081, 0.31064137139495895, -0.994941234588623, -0.2039019763469696, -0.2857740521430969, 0.0002051203919108957, 0.0030349393545794465, -0.040003403373925946], "max": [3.199340455121178, -2.963078146128186, 0.7002423555061156, 0.0, 0.0, 0.9888603091239929, 0.7610486149787903, 0.6143815129709909, 0.04200114241927144, 0.6023441591749629, 0.9869457483291626, 0.16304856538772583, 0.17515921592712402, 0.20114895701408386, 0.040015777408404306, -0.0026082341188407576], "mean": [2.5513135756269456, -3.7461550583996557, 0.7000257290240365, 0.0, 0.0, 0.7615515060007522, 0.6018587995254092, 0.43957042284922165, -0.0689022300978348, 0.4404671066029649, -0.8363208274975001, -0.010134257331882985, -0.1375077928186172, 0.11608035937653394, 0.023222627818055796, -0.022446634965958046], "std": [0.9932334129331013, 0.4209750058517793, 5.888168942552393e-05, 0.0, 0.0, 0.11086988896130204, 0.21333809668055573, 0.10891947576281508, 0.06066117069613439, 0.08126158119856346, 0.49448765504990405, 0.09435661619949443, 0.09654019892641957, 0.07307877402485764, 0.01631591063346094, 0.016860201210607884], "count": [1177]}, "action": {"min": [-0.7357142857142858, -0.7642857142857143, -0.1142857142857143, 0.0, -1.0, -0.6642857142857144, -0.4714285714285715, -0.4857142857142857, -0.1142857142857143, -0.2542857142857143, -0.26, -1.0], "max": [0.8785714285714286, 1.0, 0.4314285714285714, 0.0, 1.0, 0.5642857142857142, 0.4285714285714286, 0.5785714285714286, 0.13714285714285715, 0.20285714285714287, 0.1742857142857143, 1.0], "mean": [0.024341546304163127, 0.05620827770360482, 0.021922563417890513, 0.0, -0.6040781648258283, -0.006505643888821447, 0.0012804952057288367, -0.006499575191163972, 0.0019274183760165065, -0.0023133875470324077, 0.0008787474208034965, 0.002548853016142736], "std": [0.16540320422564947, 0.22350052412688046, 0.08807955797897662, 0.0, 0.7969250722499976, 0.15714832342239413, 0.09968287894680565, 0.13609917469472096, 0.018941227610661193, 0.04030808904902171, 0.04451116321711706, 0.9999967516688772], "count": [1177]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013593882322311401], "std": [0.11579761654138565], "count": [1177]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008496176720475786], "std": [0.02913581682155012], "count": [1177]}, "timestamp": {"min": [0.0], "max": [58.8], "mean": [29.400000000000002], "std": [16.98852553931624], "count": [1177]}, "frame_index": {"min": [0], "max": [1176], "mean": [588.0], "std": [339.77051078632473], "count": [1177]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1177]}, "index": {"min": [39057], "max": [40233], "mean": [39645.0], "std": [339.77051078632473], "count": [1177]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1177]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.027450980392156862]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.717889968542192]], [[0.7004734167805744]], [[0.6582294964682462]]], "std": [[[0.19668077449287785]], [[0.21622423913604252]], [[0.27872997571760877]]], "count": [156]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.03529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6140535273103633]], [[0.5742591827223803]], [[0.5397971957337623]]], "std": [[[0.2343515473961434]], [[0.235899734609967]], [[0.25028333255902685]]], "count": [156]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6310229267409964]], [[0.5909220247187166]], [[0.5566864159432052]]], "std": [[[0.22874586740486003]], [[0.23422362334603425]], [[0.25114683397016396]]], "count": [156]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [842]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [842]}, "observation.state": {"min": [1.6384267907729366, -4.70819435092921, 0.699994928723255, 0.0, 0.0, 0.5823172330856323, 0.707055926322937, 0.23577710641902072, -0.2617508084346474, 0.30497851819069566, -0.991801917552948, -0.04128825664520264, -0.30995044112205505, 3.655193722806871e-05, 0.002917829190100282, -0.03997261294648335], "max": [4.584314009757585, -1.2103415892113563, 0.7002211293827425, 0.0, 0.0, 0.7071576118469238, 0.8129616379737854, 0.6283002588772408, -0.005616010514213343, 0.5994542533364658, 0.9890734553337097, 0.30926474928855896, 0.14233854413032532, 0.20995491743087769, 0.040016674932118954, -0.0032992677704753856], "mean": [3.971510407504169, -3.7149946671900382, 0.7000274115614367, 0.0, 0.0, 0.6839482446605972, 0.7282957088494244, 0.4499045620636141, -0.11607076286158685, 0.4136545606079867, -0.9391517871349271, 0.15727406308373476, -0.18764049122707294, 0.10086430071949469, 0.0200962705519883, -0.018186125900172986], "std": [0.9079920572106401, 1.4560446531030422, 5.349062673611172e-05, 0.0, 0.0, 0.031747858094600005, 0.028146218584432767, 0.12459824909034273, 0.06406115750013681, 0.0663331184601099, 0.16545962024276767, 0.11525737827029495, 0.047972260081420394, 0.07009809061280876, 0.013954307581014437, 0.014853178316550935], "count": [842]}, "action": {"min": [-0.18571428571428572, -1.0, -0.15714285714285714, 0.0, -1.0, -1.0, -0.7000000000000001, -0.44285714285714284, -0.05428571428571429, -0.2, -0.17714285714285713, -1.0], "max": [1.0, 1.0, 0.19714285714285715, 0.0, 1.0, 0.6, 0.6, 0.6642857142857144, 0.1742857142857143, 0.2142857142857143, 0.14857142857142858, 1.0], "mean": [0.138895486935867, 0.05120461486257218, -0.003562945368171023, 0.0, -0.3990498812351544, 0.00038174414658981884, -0.004682728198167641, -0.0020529351883270945, 0.002829996606718697, -0.0013607058025110275, -0.0048829317950458044, 0.32066508313539194], "std": [0.30893645256083185, 0.40469591728014415, 0.04151881837888936, 0.0, 0.9169292187983801, 0.236770084461008, 0.1560967351500903, 0.18506392848785558, 0.024158717830227217, 0.03724816385812157, 0.02421599433658451, 0.9471926437941646], "count": [842]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01900237612426281], "std": [0.13653309643268585], "count": [842]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011876484560570072], "std": [0.0344418052256532], "count": [842]}, "timestamp": {"min": [0.0], "max": [42.05], "mean": [21.025], "std": [12.153214595324153], "count": [842]}, "frame_index": {"min": [0], "max": [841], "mean": [420.5], "std": [243.06429190648305], "count": [842]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [842]}, "index": {"min": [40234], "max": [41075], "mean": [40654.5], "std": [243.06429190648305], "count": [842]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [842]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43651532241721563]], [[0.45500544662309367]], [[0.4153153187205329]]], "std": [[[0.21217729122826987]], [[0.2207933470944502]], [[0.19390252370735844]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.559115638816019]], [[0.5074359775784228]], [[0.4564199802506723]]], "std": [[[0.2546495566049785]], [[0.2715795936944791]], [[0.2873719467141468]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5810556914551845]], [[0.524902581108941]], [[0.4690995113730171]]], "std": [[[0.24695980357230243]], [[0.2601749352009187]], [[0.2744267189628241]]], "count": [180]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1019]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1019]}, "observation.state": {"min": [1.7597043550066522, -3.729847998731227, 0.6999964187217584, 0.0, 0.0, 0.6946960687637329, 0.7070751786231995, 0.1076847438068782, -0.09151423602794573, 0.292307732973636, -0.9911121726036072, -0.015664860606193542, -0.15643858909606934, 0.05177580565214157, 0.0052012946450308625, -0.039797360105868713], "max": [3.4500385629030275, -0.7610317339435198, 0.700163294113657, 0.0, 0.0, 0.7071382999420166, 0.7193033695220947, 0.6428128287192543, 0.16408940341167466, 0.5796476276771375, -0.947273313999176, 0.12824806571006775, 0.029081514105200768, 0.2991162836551666, 0.04002366661430244, -0.004749810737300376], "mean": [2.220657337822002, -2.8716687051235694, 0.7000354680026193, 0.0, 0.0, 0.7045930525739481, 0.7095902256806536, 0.4380115883077473, 0.0102738893147765, 0.4290306060410459, -0.965590335786986, 0.0859813439688107, -0.07346471872583726, 0.20918894718904724, 0.022369560922344288, -0.021400930847541026], "std": [0.709087113855813, 1.1064383006340246, 4.351993410618232e-05, 0.0, 0.0, 0.003922694226437165, 0.003867889518896474, 0.14972209305652648, 0.08628645581171004, 0.07877411702916146, 0.014462495159917488, 0.03179474815272892, 0.05537324167969038, 0.08245705574731388, 0.014639769616402192, 0.014978754885596926], "count": [1019]}, "action": {"min": [-1.0, -0.8785714285714286, -0.06571428571428571, 0.0, -1.0, -0.7000000000000001, -0.37142857142857144, -0.39285714285714285, -0.08571428571428572, -0.12, -0.04, -1.0], "max": [1.0, 0.0, 0.0, 0.0, 1.0, 0.5785714285714286, 0.5071428571428571, 0.55, 0.18285714285714286, 0.1, 0.045714285714285714, 1.0], "mean": [0.08357633534277302, -0.06467825599327069, -0.0009364923594560496, 0.0, -0.6663395485770363, -0.0094350203280527, -0.002551521099116788, -0.002144960044861924, 0.0014860507500350515, 0.00034767979812140874, -0.0007906911537922324, 0.16388616290480865], "std": [0.26735599265577215, 0.17706103457678826, 0.00594954118071276, 0.0, 0.7456484466571055, 0.1838244690441074, 0.10008807643291047, 0.16659593722620622, 0.030408399272518198, 0.02187554960039016, 0.007536448206956739, 0.9864792575661795], "count": [1019]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016683023422956467], "std": [0.1280808299779892], "count": [1019]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009813542688910696], "std": [0.031311199477024175], "count": [1019]}, "timestamp": {"min": [0.0], "max": [50.9], "mean": [25.45], "std": [14.707991025289619], "count": [1019]}, "frame_index": {"min": [0], "max": [1018], "mean": [509.0], "std": [294.15982050579237], "count": [1019]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1019]}, "index": {"min": [41076], "max": [42094], "mean": [41585.0], "std": [294.15982050579237], "count": [1019]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1019]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.649938545099347]], [[0.6225292078471537]], [[0.5464412621708363]]], "std": [[[0.22786745373695688]], [[0.2331047131375288]], [[0.23728750704533522]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5530192127346365]], [[0.49774803595814276]], [[0.4537775043503968]]], "std": [[[0.2312556422736058]], [[0.2356636386476808]], [[0.2383293034022179]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.058823529411764705]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.547794580299965]], [[0.49092451506969975]], [[0.4489858373918355]]], "std": [[[0.24464857627093195]], [[0.2538129518721329]], [[0.25647842566997286]]], "count": [205]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1216]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1216]}, "observation.state": {"min": [0.8965002370392678, -4.233269896729121, 0.699997035765129, 0.0, 0.0, 0.68354332447052, 0.7070515155792236, 0.17502068641251756, -0.12625001901404298, 0.2586504275643139, -0.9912527799606323, -0.07866935431957245, -0.23520199954509735, 1.9961178622907028e-05, 0.004344307726484326, -0.039834365760350765], "max": [2.269829716382516, -0.9490847690661479, 0.7001735333976106, 0.0, 0.0, 0.7071620225906372, 0.7299098372459412, 0.46703954649495794, 0.07919731170358091, 0.580958051050338, 0.993241012096405, 0.09269952774047852, 0.12134817987680435, 0.529544472694397, 0.040029842688326565, -0.003932274595659985], "mean": [2.028007657337206, -3.1644492734778793, 0.7000206139002444, 0.0, 0.0, 0.7041673650474924, 0.7099977789054576, 0.38432399372315135, -0.028582795276349608, 0.39732603712101994, -0.8558337122299954, 0.026072949367134196, -0.07021590987431792, 0.2844800736949756, 0.020342646666100455, -0.019108780824192127], "std": [0.4042266743944193, 1.3423696337761437, 4.259961650120202e-05, 0.0, 0.0, 0.005132148628716358, 0.005011075793685565, 0.06733491620293919, 0.0548701223154504, 0.08806736907624428, 0.3814616232279963, 0.05071167605037439, 0.05812194314497849, 0.17189202179662808, 0.01508559341359145, 0.01571773732099896], "count": [1216]}, "action": {"min": [-0.7214285714285715, -0.7214285714285715, -0.06857142857142857, 0.0, -1.0, -0.9071428571428573, -0.5071428571428571, -0.4, -0.21714285714285717, -0.18857142857142858, -0.11142857142857143, -1.0], "max": [1.0, 1.0, 0.04285714285714286, 0.0, 1.0, 0.55, 0.42142857142857143, 0.6428571428571428, 0.17714285714285713, 0.19714285714285715, 0.12, 1.0], "mean": [0.08033952067669166, 0.012417763157894723, -0.0004323308270676689, 0.0, -0.6069078947368421, -0.004687499999999997, -0.0029957706766917318, -0.0033775845864661785, 0.0007119360902255603, -0.002004229323308271, -6.813909774436029e-05, 0.23355263157894737], "std": [0.2513254081592202, 0.21721417263867596, 0.010096259947213302, 0.0, 0.7947721732082034, 0.1453065265626003, 0.09310895719034151, 0.13895292088923517, 0.04320686719223397, 0.03051150904242907, 0.016883276779973904, 0.972344161437999], "count": [1216]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013980262912809849], "std": [0.11740875244140625], "count": [1216]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008223684210526315], "std": [0.02866517279265358], "count": [1216]}, "timestamp": {"min": [0.0], "max": [60.75], "mean": [30.375], "std": [17.551442248430753], "count": [1216]}, "frame_index": {"min": [0], "max": [1215], "mean": [607.5], "std": [351.0288449686151], "count": [1216]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1216]}, "index": {"min": [42095], "max": [43310], "mean": [42702.5], "std": [351.0288449686151], "count": [1216]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1216]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5164692887015965]], [[0.4895536711839967]], [[0.43781572789080814]]], "std": [[[0.20067359033791723]], [[0.23086070309841886]], [[0.2489573714538831]]], "count": [230]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5401781825905464]], [[0.4555864068410992]], [[0.4167341308073416]]], "std": [[[0.19306680484804162]], [[0.21559528094490338]], [[0.21986335316216118]]], "count": [230]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5531184888028325]], [[0.4736336530992747]], [[0.43353581421210635]]], "std": [[[0.20667328950292632]], [[0.22623946420125027]], [[0.2275815347066463]]], "count": [230]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1417]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1417]}, "observation.state": {"min": [0.9980249448686567, -3.7804451727387036, 0.6999954540612888, 0.0, 0.0, 0.6459054350852966, 0.1582324504852295, 0.20123235672831696, -0.09516441575166734, 0.2989024023910686, -0.9965003728866577, -0.32544198632240295, -0.15453942120075226, 0.0006081222090870142, 0.0036088832442070845, -0.04001743004362349], "max": [2.328486434813493, -1.1348442430258552, 0.7003019339951639, 0.0, 0.0, 0.9874019026756287, 0.7634174227714539, 0.6887231878905737, 0.14298361714238395, 0.6050835416670579, 0.9843260645866394, 0.3750421106815338, 0.23909921944141388, 0.19840916991233826, 0.04006768222110653, -0.00375542472918539], "mean": [1.9047021846843863, -2.776409804314357, 0.7001123180915811, 0.0, 0.0, 0.7730888042470142, 0.5824166344098837, 0.47778247849792804, 0.033651071221142685, 0.43948388507003217, 0.35953331855963716, 0.031723066538719535, 0.06782445753645218, 0.1107941269101483, 0.021737886302332563, -0.022340994855471058], "std": [0.574630521106348, 1.0102285100372996, 0.00012798866214404938, 0.0, 0.0, 0.11700592223200029, 0.2223379311283427, 0.14015551851099173, 0.06501860799992733, 0.08758518740379453, 0.9036310735395878, 0.16820214280019258, 0.06182424263758522, 0.06473507622481268, 0.015780319829412585, 0.015347622461195], "count": [1417]}, "action": {"min": [-1.0, -0.7642857142857143, -0.10857142857142858, 0.0, -1.0, -0.6785714285714286, -0.4285714285714286, -0.36428571428571427, -0.09714285714285714, -0.15142857142857147, -0.2257142857142857, -1.0], "max": [1.0, 0.9071428571428573, 0.38857142857142857, 0.0, 1.0, 0.44285714285714284, 0.3857142857142857, 0.4928571428571429, 0.025714285714285714, 0.14285714285714285, 0.11142857142857143, 1.0], "mean": [0.04995463252343988, 0.03545720334711161, 0.01799576570218772, 0.0, -0.5328158080451658, -0.0026212319790301338, -0.0034227240649258926, -0.007359612864200039, -0.002709950599858856, 0.0002399435426958355, 0.0010505091239036161, 0.11644318983768526], "std": [0.2374271340623463, 0.16944329286581256, 0.07950296850973372, 0.0, 0.8462312418583812, 0.16851490778565847, 0.0876609678659616, 0.12929773445540815, 0.010579738381278765, 0.03036975922353193, 0.032430344079183174, 0.9931973537723575], "count": [1417]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011291461065411568], "std": [0.10565966367721558], "count": [1417]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007057163020465773], "std": [0.026555945973502863], "count": [1417]}, "timestamp": {"min": [0.0], "max": [70.8], "mean": [35.4], "std": [20.452628192973147], "count": [1417]}, "frame_index": {"min": [0], "max": [1416], "mean": [708.0], "std": [409.0525638594629], "count": [1417]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1417]}, "index": {"min": [43311], "max": [44727], "mean": [44019.0], "std": [409.0525638594629], "count": [1417]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1417]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29669750247922677]], [[0.2722673950261432]], [[0.2403791442282628]]], "std": [[[0.1707474835753496]], [[0.17869564773845428]], [[0.16331347662988346]]], "count": [181]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46242071049867634]], [[0.3739549195698005]], [[0.3505640379722115]]], "std": [[[0.2376897258796679]], [[0.24684259572534753]], [[0.25951053933594004]]], "count": [181]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44497891817536106]], [[0.3426943906582186]], [[0.3163506869156071]]], "std": [[[0.2311202212801843]], [[0.2310559800887967]], [[0.24364600399704608]]], "count": [181]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1026]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1026]}, "observation.state": {"min": [0.9831820461851466, -4.0111655780036966, 0.6999944939878175, 0.0, 0.0, 0.7062208652496338, 0.014009641483426094, 0.13315949681697437, -0.01340441938755177, 0.2887539017203814, -0.9968217015266418, -0.12582650780677795, -0.3156602084636688, 1.6977806808426976e-05, 0.0036328562364697243, -0.04011653609393584], "max": [3.327908010964517, -1.2628794732099886, 0.7003213242879016, 0.0, 0.0, 0.9999018907546997, 0.7079915404319763, 0.721651093518457, 0.2608574311679326, 0.6116659902106021, 0.9905874133110046, 0.11794081330299377, 0.3708615303039551, 0.20990833640098572, 0.04004254849954026, -0.0019932420165346297], "mean": [2.5405195297833507, -3.1537025869602044, 0.7001036579468902, 0.0, 0.0, 0.7863741360793569, 0.5275986413843566, 0.43596542058532173, 0.1430045781293504, 0.46154065009625594, 0.43279871181902596, -0.045850010694060875, 0.09938607544621877, 0.11395715075662925, 0.022964298106434272, -0.023001878699319658], "std": [1.0253588407260028, 1.2195906928313531, 0.00011753297579845317, 0.0, 0.0, 0.12668240282102466, 0.29530824263189304, 0.14756571540040975, 0.06013967394392594, 0.10923654782334942, 0.8625480743435665, 0.06680810675165051, 0.1828383689963729, 0.0763993134709521, 0.01436539008662542, 0.014439939005383037], "count": [1026]}, "action": {"min": [-0.09285714285714286, -0.6428571428571428, 0.0, 0.0, -1.0, -1.0, -0.7857142857142857, -0.6428571428571428, -0.17142857142857143, -0.18, -0.13714285714285715, -1.0], "max": [1.0, 1.0, 0.5628571428571428, 0.0, 1.0, 0.6071428571428572, 0.6500000000000001, 0.6642857142857144, 0.09142857142857143, 0.24571428571428575, 0.07428571428571429, 1.0], "mean": [0.08752436647173495, 0.047786131996658314, 0.028248398774714575, 0.0, -0.5789473684210527, -0.008500417710944048, 0.005625174046226667, -0.005994152046783618, -0.002837649679754944, -0.0035644667223614607, -0.0017042606516290708, 0.13840155945419103], "std": [0.26384902554989265, 0.21780520111091756, 0.1050551407939399, 0.0, 0.8153649149910387, 0.2591773321403497, 0.17038688433228286, 0.21379090566309875, 0.01969068044687909, 0.045432254395909255, 0.02317602461309823, 0.9903761953624792], "count": [1026]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015594542026519775], "std": [0.12390056997537613], "count": [1026]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009746588693957114], "std": [0.03120430914928289], "count": [1026]}, "timestamp": {"min": [0.0], "max": [51.25], "mean": [25.624999999999996], "std": [14.809027370717722], "count": [1026]}, "frame_index": {"min": [0], "max": [1025], "mean": [512.5], "std": [296.18054741435446], "count": [1026]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1026]}, "index": {"min": [44728], "max": [45753], "mean": [45240.5], "std": [296.18054741435446], "count": [1026]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1026]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36577374905064325]], [[0.271326407282775]], [[0.22671864146145773]]], "std": [[[0.26032264703009617]], [[0.1952179285152886]], [[0.1679497762656736]]], "count": [202]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38205685727551386]], [[0.3560636914000884]], [[0.343867491194633]]], "std": [[[0.24096306942464438]], [[0.2414692460771531]], [[0.24740318839732317]]], "count": [202]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40587769650737193]], [[0.3705354806451607]], [[0.35213485418581497]]], "std": [[[0.2266689546366949]], [[0.22898462143864787]], [[0.2381368610130326]]], "count": [202]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1186]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1186]}, "observation.state": {"min": [0.9078667246442861, -4.671798050036457, 0.6999957369997176, 0.0, 0.0, -0.9999934434890747, 0.003631994593888521, 0.17535210017943037, -0.18105047603246538, 0.2710127894480213, -0.9934521317481995, -0.2445392608642578, -0.1484943926334381, 1.4202518059391878e-06, 0.0024650128677721436, -0.04003442913079941], "max": [3.343319583821736, -1.835752133222076, 0.700490322929004, 0.0, 0.0, 0.9999557733535767, 0.7722874879837036, 0.5397303750881259, 0.046937854343025665, 0.5878023193004367, 0.9859883189201355, 0.09612368047237396, 0.15066319704055786, 0.43939411640167236, 0.040010170040353045, -0.0026846254255103934], "mean": [2.507003417529046, -3.501566110026933, 0.700117440717812, 0.0, 0.0, 0.29043446523946215, 0.5360660031033463, 0.41133561324425616, -0.017730890693712694, 0.42974594517692044, 0.3760498997835446, -0.03944322401516353, -0.0020044454895327374, 0.213043595331111, 0.019932133107136984, -0.020917385244341898], "std": [1.0597086394979423, 1.1242968974010774, 0.0001400928968834758, 0.0, 0.0, 0.741050802828994, 0.28129123502224734, 0.09589682187528119, 0.07210976056265928, 0.09669736343839885, 0.8806481303719264, 0.04153521672617204, 0.08996463288382003, 0.1621085231408432, 0.015322100030677436, 0.01479658166669846], "count": [1186]}, "action": {"min": [-1.0, -0.9571428571428572, -0.13428571428571429, 0.0, -1.0, -0.7285714285714285, -0.45, -0.46428571428571436, -0.15428571428571428, -0.32571428571428573, -0.1457142857142857, -1.0], "max": [1.0, 1.0, 0.6485714285714286, 0.0, 1.0, 0.5714285714285715, 0.45714285714285713, 0.5142857142857143, 0.2, 0.18571428571428572, 0.06571428571428571, 1.0], "mean": [0.07298843652132016, 0.03169115875692606, 0.024902433148638874, 0.0, -0.5261382799325464, -0.0035894965068658177, 0.002565646832088655, -0.007612623464225469, -0.006085280655263792, -0.0010961214165261393, -0.004174897615032522, 0.23102866779089376], "std": [0.2760735286427979, 0.24765303669500177, 0.11305203941668042, 0.0, 0.8503990300968276, 0.17317508657619726, 0.1016928724541187, 0.15527498404238962, 0.024276005736209003, 0.030237663488556606, 0.02148730661594445, 0.9729469433935121], "count": [1186]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013490725308656693], "std": [0.1153634563088417], "count": [1186]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008431703204047217], "std": [0.029025150890486517], "count": [1186]}, "timestamp": {"min": [0.0], "max": [59.25], "mean": [29.625], "std": [17.118429396413678], "count": [1186]}, "frame_index": {"min": [0], "max": [1185], "mean": [592.5], "std": [342.3685879282736], "count": [1186]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1186]}, "index": {"min": [45754], "max": [46939], "mean": [46346.5], "std": [342.3685879282736], "count": [1186]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1186]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.0392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.738417582319986]], [[0.7334321545422754]], [[0.6951968887691281]]], "std": [[[0.22124354507868838]], [[0.22812716758391827]], [[0.28221502323911435]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5612942665501645]], [[0.546569735405984]], [[0.5363660842690797]]], "std": [[[0.2558141571929947]], [[0.2657686454457857]], [[0.27037051172436005]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5573220151226096]], [[0.5442411547524026]], [[0.5365218817018995]]], "std": [[[0.26398898729083203]], [[0.27291264132261583]], [[0.27667868276327373]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1095]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1095]}, "observation.state": {"min": [1.077794922774839, -4.1749000145567665, 0.6999955901303857, 0.0, 0.0, -0.9999995231628418, 0.0009855274111032486, 0.18752144317469188, -0.12006950921984405, 0.302817583732078, -0.995499849319458, -0.018468081951141357, -0.15117397904396057, 0.017874781042337418, 0.002819838792755826, -0.04007589509693596], "max": [3.3292656548751065, -1.4439323431952715, 0.7003791748943664, 0.0, 0.0, 0.9999992847442627, 0.7253073453903198, 0.5692641582881302, 0.1401489593874583, 0.607553413314976, -0.9591630697250366, 0.15454056859016418, -0.008317805826663971, 0.2820335626602173, 0.040017989297147165, -0.0027786555903589233], "mean": [2.5209098344736955, -3.1573781522134516, 0.7001215230751385, 0.0, 0.0, 0.338915150622799, 0.5294587304243673, 0.41651687826625544, 0.003014977099774723, 0.4414236353304811, -0.9827805835362439, 0.0007388129694276749, -0.0670741366043891, 0.1344372352712775, 0.017870336214916016, -0.01700043254878333], "std": [0.9987462970197953, 1.1224166641605362, 0.00012893623705499107, 0.0, 0.0, 0.7189638029117007, 0.29648103495899714, 0.10277538365277321, 0.08126664262776115, 0.07840379614908669, 0.007706337738321766, 0.034761719377094935, 0.04911175105766037, 0.08882419411281058, 0.015443232331120983, 0.01584161119023138], "count": [1095]}, "action": {"min": [-0.6357142857142857, -0.6, -0.05428571428571429, 0.0, -1.0, -0.9357142857142857, -0.45714285714285713, -0.44285714285714284, -0.07142857142857142, -0.07714285714285714, -0.08571428571428572, -1.0], "max": [1.0, 0.8142857142857143, 0.4257142857142857, 0.0, 1.0, 0.6071428571428572, 0.55, 0.6571428571428571, 0.17714285714285713, 0.11714285714285716, 0.18, 1.0], "mean": [0.06573385518590999, 0.05597521200260929, 0.027723418134377044, 0.0, -0.43561643835616437, -0.004546640574037821, -0.004540117416829749, -0.009341161121983056, 0.0015655577299412877, 0.0008688845401174183, -0.002225701239399869, 0.3187214611872146], "std": [0.24930739880125255, 0.21354838780050567, 0.0994279618044009, 0.0, 0.9001323895038328, 0.1894182958013981, 0.12578698510198424, 0.17329776826549437, 0.023261785675864045, 0.010977304466867222, 0.021143970791879154, 0.9478484215203818], "count": [1095]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014611871913075447], "std": [0.1199931725859642], "count": [1095]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009132420091324201], "std": [0.030206092070394937], "count": [1095]}, "timestamp": {"min": [0.0], "max": [54.7], "mean": [27.35], "std": [15.804957028308133], "count": [1095]}, "frame_index": {"min": [0], "max": [1094], "mean": [547.0], "std": [316.0991405661627], "count": [1095]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1095]}, "index": {"min": [46940], "max": [48034], "mean": [47487.0], "std": [316.0991405661627], "count": [1095]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1095]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7172335739844354]], [[0.709768235843371]], [[0.6334414145853825]]], "std": [[[0.190040412659366]], [[0.19195325985685088]], [[0.2589897320879982]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6612581707744776]], [[0.6383900230678038]], [[0.6044565461286369]]], "std": [[[0.2315395712932821]], [[0.222730605544791]], [[0.2263248910669268]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6781445301477138]], [[0.651407301528453]], [[0.6127579751029472]]], "std": [[[0.2253049139361336]], [[0.21776845637536896]], [[0.22526148502453316]]], "count": [228]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1395]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1395]}, "observation.state": {"min": [4.0188285977490255, -4.382189581521186, 0.6999970301285884, 0.0, 0.0, 0.682684063911438, 0.7070515155792236, 0.24177548076482758, -0.28869880276367965, 0.291605336014676, -0.9898884892463684, -0.1033734381198883, -0.28644898533821106, 0.015859583392739296, 0.0038872698706640205, -0.03987645583810703], "max": [5.892234878631461, -1.0311914624161127, 0.7002024505861633, 0.0, 0.0, 0.7071619629859924, 0.7307137250900269, 0.5800994426390134, 0.004114812901254261, 0.5988201235320191, -0.8925459980964661, 0.3148571252822876, -0.013036447577178478, 0.4480206370353699, 0.04002621003396087, -0.0036658648761302426], "mean": [4.411022460052277, -3.4928699339491103, 0.7000183423224723, 0.0, 0.0, 0.7003583655562452, 0.7136536063686494, 0.41194999639289515, -0.14742868426086503, 0.40848229611606307, -0.9529720859715588, 0.047151430618805695, -0.127641515827681, 0.21099906070658597, 0.020342330082876486, -0.019467097974453788], "std": [0.621797103425657, 1.2370042700355577, 3.885356953033665e-05, 0.0, 0.0, 0.010071073679225008, 0.009759836183934585, 0.07240712147388573, 0.07780094443466812, 0.07104062419930682, 0.029493027219857793, 0.07555255079839386, 0.05835744987391746, 0.1372019184859111, 0.016073106989046442, 0.01649164767212533], "count": [1395]}, "action": {"min": [-0.8642857142857142, -1.0, -0.08, 0.0, -1.0, -0.6142857142857143, -0.6285714285714287, -0.31428571428571433, -0.10571428571428572, -0.15142857142857147, -0.14, -1.0], "max": [1.0, 0.9071428571428573, 0.011428571428571429, 0.0, 1.0, 0.4928571428571429, 0.46428571428571436, 0.4857142857142857, 0.21142857142857144, 0.18285714285714286, 0.12857142857142856, 1.0], "mean": [0.07658474142345115, -0.023164362519201256, -0.001314900153609831, 0.0, -0.5971326164874552, 0.004290834613415242, -0.0013364055299539322, -0.005273937532002066, 0.0024843830005120333, 0.0023963133640552995, -0.0036231438812083993, 0.17849462365591398], "std": [0.23826998834053212, 0.2110387748035636, 0.008094439984325158, 0.0, 0.8021425299327104, 0.12343891703242313, 0.1134815808320159, 0.12257530548855575, 0.03238205972599553, 0.027586368683136006, 0.02739575294537084, 0.9839408871095466], "count": [1395]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011469533666968346], "std": [0.10647997260093689], "count": [1395]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007168458781362007], "std": [0.026764379501927553], "count": [1395]}, "timestamp": {"min": [0.0], "max": [69.7], "mean": [34.85], "std": [20.135085464598028], "count": [1395]}, "frame_index": {"min": [0], "max": [1394], "mean": [697.0], "std": [402.70170929196047], "count": [1395]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1395]}, "index": {"min": [48035], "max": [49429], "mean": [48732.0], "std": [402.70170929196047], "count": [1395]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1395]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39723175277424216]], [[0.2828087009346729]], [[0.20371475236535097]]], "std": [[[0.26857555104858893]], [[0.20812903634953367]], [[0.15699895711717826]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4575669356919932]], [[0.43208758985977863]], [[0.40210655533445383]]], "std": [[[0.2488517467545797]], [[0.2355673026614412]], [[0.22393961941484183]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4838045979575666]], [[0.46153136272476647]], [[0.43207014629719515]]], "std": [[[0.2519374844533405]], [[0.2395569242773593]], [[0.22848884671775146]]], "count": [178]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1002]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1002]}, "observation.state": {"min": [1.6620498233678211, -4.896056701260843, 0.6999966426913843, 0.0, 0.0, -0.030960330739617348, 0.9995205402374268, 0.059865128639668086, -0.2760591601894342, 0.26155797673644365, -0.9941304922103882, -0.19429367780685425, -0.19476738572120667, 0.00019114866154268384, 0.0032305574568533535, -0.0400809481851777], "max": [4.202734586605735, -1.4733491618635493, 0.7005300294348543, 0.0, 0.0, 0.00016524310922250152, 1.0, 0.6787914805425244, 0.2815246854748681, 0.598712802768182, 0.9963169693946838, 0.19483736157417297, 0.20658381283283234, 0.3585814833641052, 0.04003218572339076, -0.0027857251164953756], "mean": [2.259178678947434, -3.891055103215777, 0.7001427388796622, 0.0, 0.0, -0.009242399837044304, 0.9998636819764287, 0.48312056186941493, -0.11023673692048537, 0.4256462291363418, -0.8823825722326062, 0.03523629749874155, -0.016881469688740765, 0.22602360385909032, 0.023579425816697662, -0.022264409977601318], "std": [1.0163852322673947, 1.4778626919587443, 0.0001666457056302888, 0.0, 0.0, 0.013681167550480508, 0.00021036128897645236, 0.15865196578783583, 0.13685233448525091, 0.10215251175437244, 0.3522150370438724, 0.13143113002132567, 0.12562700465986454, 0.10805565338478094, 0.014433796866884039, 0.015149531621156478], "count": [1002]}, "action": {"min": [-0.36428571428571427, 0.0, -0.02, 0.0, -1.0, -1.0, -0.45714285714285713, -0.35000000000000003, -0.07714285714285714, -0.24285714285714288, -0.23714285714285716, -1.0], "max": [0.9785714285714284, 1.0, 0.0, 0.0, 1.0, 0.4928571428571429, 0.6642857142857144, 0.6571428571428571, 0.11142857142857143, 0.1142857142857143, 0.12, 1.0], "mean": [0.08021100655831193, 0.11879811804961501, -0.0004476760764185913, 0.0, -0.6287425149700598, -0.02453664100370685, 0.017301112061591076, -0.011583974907328194, 0.001317365269461076, -0.007410892500712862, -0.004647847162817224, 0.10778443113772455], "std": [0.22891570406514497, 0.28884451448650655, 0.0026321447668343923, 0.0, 0.7776135607543906, 0.2586290617462689, 0.17416146117269662, 0.18740506656253356, 0.021384134523128755, 0.038733849081920554, 0.040509847278601234, 0.9941742887463466], "count": [1002]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.026946106925606728], "std": [0.16192595660686493], "count": [1002]}, "next.done": {"min": [false], "max": [true], "mean": [0.000998003992015968], "std": [0.03157543317276721], "count": [1002]}, "timestamp": {"min": [0.0], "max": [50.05], "mean": [25.025], "std": [14.462617040724913], "count": [1002]}, "frame_index": {"min": [0], "max": [1001], "mean": [500.5], "std": [289.25234081449827], "count": [1002]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1002]}, "index": {"min": [49430], "max": [50431], "mean": [49930.5], "std": [289.25234081449827], "count": [1002]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1002]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6428135895953375]], [[0.5874917930174365]], [[0.5450020570988958]]], "std": [[[0.1860097963767333]], [[0.2594284256708392]], [[0.28969319699649115]]], "count": [223]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5376690225174378]], [[0.44834742819865653]], [[0.3951737020404172]]], "std": [[[0.21025380939678065]], [[0.2317431654592478]], [[0.2509851692816125]]], "count": [223]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5567673723668104]], [[0.47102055128254006]], [[0.41705729703333827]]], "std": [[[0.2098555270646237]], [[0.23470594073842693]], [[0.25878491139377807]]], "count": [223]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1357]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1357]}, "observation.state": {"min": [1.1211241142666104, -4.942389104144169, 0.6999959216291214, 0.0, 0.0, 0.6239484548568726, 0.7070961594581604, 0.24198096955428117, -0.25485479327178595, 0.2671784217817049, -0.9900655746459961, -0.03993487358093262, -0.23733840882778168, 0.000307462498312816, 0.003940427285174003, -0.040003983510623335], "max": [3.898853742848168, -1.1708954781550749, 0.7001702264596265, 0.0, 0.0, 0.7071173787117004, 0.781465470790863, 0.6605794890802734, 0.029079995034383188, 0.586468570176221, 0.9892719388008118, 0.08577603101730347, 0.27065274119377136, 0.38219618797302246, 0.04002784063446314, -0.003370597079097715], "mean": [2.8845093485415605, -3.8849281154128623, 0.700033851657945, 0.0, 0.0, 0.6871449058338747, 0.7252519052961598, 0.4875436903355764, -0.10376138808926401, 0.40288198346015613, -0.17446248032366782, 0.047942358261974925, -0.018011740576983726, 0.18928056265606769, 0.023800435963052917, -0.02284002106510098], "std": [0.6119700719096058, 1.4118374663561961, 4.825198780736301e-05, 0.0, 0.0, 0.03189855158415996, 0.028705707650368957, 0.10738542474531047, 0.08549512399412255, 0.08254029052048156, 0.9289894157930607, 0.03301442549909081, 0.1968091820985972, 0.16812994575312668, 0.015027156054681962, 0.01566821133756432], "count": [1357]}, "action": {"min": [-0.9142857142857143, -1.0, -0.16, 0.0, -1.0, -0.7642857142857143, -0.5785714285714286, -0.4285714285714286, -0.06571428571428571, -0.07428571428571429, -0.05714285714285715, -1.0], "max": [1.0, 1.0, 0.09142857142857143, 0.0, 1.0, 0.6642857142857144, 0.4857142857142857, 0.45, 0.20857142857142857, 0.08, 0.025714285714285714, 1.0], "mean": [0.09534687861880196, -0.008037688177702925, -0.004539425202652909, 0.0, -0.5327929255711128, 0.006179597852405522, -0.0023107695546899744, -0.006400673755132138, 0.004065691125381618, -0.0013538267186019592, -0.00031792820296873355, 0.056742815033161385], "std": [0.251164413371195, 0.2867252814568431, 0.020327511026260847, 0.0, 0.8462456490058765, 0.1727467046228294, 0.11051812017878253, 0.12386557545252348, 0.02615065319496491, 0.012964558442049159, 0.005304950157104284, 0.9983888285343097], "count": [1357]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011790715157985687], "std": [0.10794301331043243], "count": [1357]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007369196757553427], "std": [0.02713626033827851], "count": [1357]}, "timestamp": {"min": [0.0], "max": [67.8], "mean": [33.900000000000006], "std": [19.586602563997666], "count": [1357]}, "frame_index": {"min": [0], "max": [1356], "mean": [678.0], "std": [391.73205127995334], "count": [1357]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1357]}, "index": {"min": [50432], "max": [51788], "mean": [51110.0], "std": [391.73205127995334], "count": [1357]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1357]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7178956014247029]], [[0.6884346102830751]], [[0.6451931572901161]]], "std": [[[0.21609976566734673]], [[0.2341879571556116]], [[0.2888649449275185]]], "count": [163]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6670535739773407]], [[0.6104909980596797]], [[0.5634594623038417]]], "std": [[[0.2073065540886311]], [[0.21644371525860792]], [[0.24040398190344786]]], "count": [163]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6577871942353796]], [[0.6106235503691507]], [[0.5703872741236665]]], "std": [[[0.2071805973582095]], [[0.21600472713345928]], [[0.23789678958856403]]], "count": [163]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [896]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [896]}, "observation.state": {"min": [0.5329142924829566, -4.091792870491588, 0.6999954813101819, 0.0, 0.0, 0.7064658403396606, 0.7063626646995544, 0.20315756530387363, -0.31662545542151754, 0.2988916542073542, -0.9962586164474487, -0.4421924352645874, -0.21074041724205017, 1.1144063137180638e-05, 0.002240399983997742, -0.0400019170518751], "max": [2.079277567304773, -0.984522943870083, 0.7001600697671256, 0.0, 0.0, 0.7078500986099243, 0.7077471613883972, 0.5694218227518011, 0.07517780744680991, 0.5864380147515285, 0.983485996723175, 0.30251723527908325, 0.20398105680942535, 0.273588627576828, 0.040021288922406174, -0.002873485197405837], "mean": [1.8326959696008536, -3.2321727726262455, 0.7000395654240249, 0.0, 0.0, 0.70719748322985, 0.7070158776561064, 0.4118236603724098, -0.15733088284182556, 0.44931114362367036, -0.526403859191175, 0.10849664781874578, -0.004532866147014504, 0.1501719424034594, 0.021271077444124938, -0.020389216937805803], "std": [0.45348502888810427, 1.3085844037976169, 4.9723132652862305e-05, 0.0, 0.0, 0.0003520850834391572, 0.00035228827701861695, 0.10724689099905119, 0.13903888715205984, 0.08791882618199923, 0.7815267937395491, 0.2274389720299861, 0.11112916914451945, 0.11701705728368171, 0.0161044329986769, 0.016674504540781412], "count": [896]}, "action": {"min": [-0.22857142857142856, -0.9142857142857143, -0.002857142857142857, 0.0, -1.0, -0.9142857142857143, -0.5642857142857142, -0.4714285714285715, -0.12571428571428572, -0.18571428571428572, -0.41714285714285715, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.5357142857142857, 0.22857142857142856, 0.6214285714285714, 0.14857142857142858, 0.12857142857142856, 0.17142857142857143, 1.0], "mean": [0.10721460459183675, 0.010148278061224498, -9.566326530612246e-06, 0.0, -0.5758928571428571, -0.0023517219387754916, -0.023421556122448978, -0.007230548469387746, 0.0024394132653061196, 0.00026147959183673544, -0.006635841836734708, 0.11383928571428571], "std": [0.28534483743021577, 0.2795708676718451, 0.0001650480139618298, 0.0, 0.8175251782617028, 0.2064533565856166, 0.11012181147195298, 0.1971497754158705, 0.02713947466474755, 0.022416531185836204, 0.07770274574564331, 0.9934991781717993], "count": [896]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01785714365541935], "std": [0.13243211805820465], "count": [896]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011160714285714285], "std": [0.033389007369758014], "count": [896]}, "timestamp": {"min": [0.0], "max": [44.75], "mean": [22.375], "std": [12.932637975293362], "count": [896]}, "frame_index": {"min": [0], "max": [895], "mean": [447.5], "std": [258.65275950586727], "count": [896]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [896]}, "index": {"min": [51789], "max": [52684], "mean": [52236.5], "std": [258.65275950586727], "count": [896]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [896]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7037856454195724]], [[0.6495319293199319]], [[0.5367428084250674]]], "std": [[[0.1871174628869061]], [[0.18612577376881112]], [[0.21902194568835842]]], "count": [194]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.64865643354963]], [[0.5553921636485417]], [[0.5065298622922509]]], "std": [[[0.18264316574815492]], [[0.22447051753853564]], [[0.21989120251517422]]], "count": [194]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6261542871404664]], [[0.5299588473512593]], [[0.4839287231395961]]], "std": [[[0.21038246363125193]], [[0.24033793097928288]], [[0.23244026705051898]]], "count": [194]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1130]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1130]}, "observation.state": {"min": [1.1347380210623137, -3.8976836029377937, 0.6999975084602996, 0.0, 0.0, -0.023913728073239326, 0.9997139573097229, 0.20829580116905655, -0.1962352721486078, 0.2945498386264509, -0.9991050362586975, -0.06778663396835327, -0.17007076740264893, 0.0004369781818240881, 0.0030721745066827205, -0.040003843638136714], "max": [3.718871806745031, -0.9971808485434257, 0.7001076814830373, 0.0, 0.0, 0.0004015047161374241, 1.0, 0.6222841665912133, 0.2683722676570688, 0.6155323676147202, 0.9994282722473145, 0.2416827380657196, 0.13986636698246002, 0.4384010136127472, 0.040028546722977655, -0.0015494604069293775], "mean": [1.8023257527845948, -3.1325207863261952, 0.7000373263835306, 0.0, 0.0, -0.005153991938289856, 0.9999449269961467, 0.4441732387564312, 0.020063038801905166, 0.4288726794168347, -0.25051605147598066, 0.04956529778387167, 0.032997140083055064, 0.20870189908387107, 0.023604127493267166, -0.022504911395220564], "std": [0.95828466790855, 1.2122278525082937, 4.04345893272283e-05, 0.0, 0.0, 0.009142620171108107, 0.0001055750343478247, 0.10859757664490706, 0.157831040316471, 0.09553320519999411, 0.9184664362507743, 0.09665319057382016, 0.06999895661410954, 0.17977041375259997, 0.016120543136104643, 0.017004689999296246], "count": [1130]}, "action": {"min": [-0.4928571428571429, 0.0, -0.04, 0.0, -1.0, -0.7642857142857143, -0.6071428571428572, -0.4785714285714286, -0.06571428571428571, -0.2057142857142857, -0.28, -1.0], "max": [0.9642857142857144, 1.0, 0.0, 0.0, 1.0, 0.5928571428571429, 0.5571428571428572, 0.6571428571428571, 0.19714285714285715, 0.26285714285714284, 0.09142857142857143, 1.0], "mean": [0.0581479140328698, 0.08957648546144124, -0.0010720606826801515, 0.0, -0.6513274336283186, -0.0025663716814159194, 0.004342604298356546, -0.007534766118836912, 0.0037218710493046783, 0.0006573957016434878, -0.005011378002528445, -0.012389380530973451], "std": [0.22990844612396238, 0.24008782363779133, 0.004846128803778204, 0.0, 0.7587967937485995, 0.19292831568588079, 0.14901781385418647, 0.17382706306033033, 0.030840199032462757, 0.04360710665365916, 0.044463905370934684, 0.9999232486796495], "count": [1130]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014159291982650757], "std": [0.11814738810062408], "count": [1130]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008849557522123894], "std": [0.0297350400290468], "count": [1130]}, "timestamp": {"min": [0.0], "max": [56.45], "mean": [28.225], "std": [16.310138717987655], "count": [1130]}, "frame_index": {"min": [0], "max": [1129], "mean": [564.5], "std": [326.2027743597531], "count": [1130]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1130]}, "index": {"min": [52685], "max": [53814], "mean": [53249.5], "std": [326.2027743597531], "count": [1130]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1130]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33303367793674604]], [[0.362936748664501]], [[0.3496921103718371]]], "std": [[[0.2540910328184584]], [[0.2696984380067001]], [[0.2527733200076703]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41576105880688413]], [[0.38171307872873417]], [[0.3617729549757505]]], "std": [[[0.24083592158802855]], [[0.24827144026346448]], [[0.2599182928931851]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38512895978384715]], [[0.3580245641199699]], [[0.3420717424419344]]], "std": [[[0.24390931609883837]], [[0.24651094829102002]], [[0.25400634080696]]], "count": [153]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [821]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [821]}, "observation.state": {"min": [1.3129238742962444, -3.8167772874572554, 0.6999958327067536, 0.0, 0.0, 0.6998874545097351, 0.7067502737045288, 0.11552449229149164, -0.17517847846434442, 0.29487377300441453, -0.9925149083137512, -0.22623294591903687, -0.13879060745239258, 0.0006812559440732002, 0.0037721262024203546, -0.040033520986818026], "max": [2.3635774490025327, -0.8820611446844318, 0.7002096718962205, 0.0, 0.0, 0.7074631452560425, 0.7142531275749207, 0.5083134870060855, 0.11072413134764414, 0.5960936099856814, 0.9930301308631897, 0.08417925238609314, 0.15366782248020172, 0.41621506214141846, 0.03987357282423122, -0.0028941073450072918], "mean": [2.090449637562361, -3.0365833920977447, 0.7000364526813959, 0.0, 0.0, 0.705509390014969, 0.708692648233653, 0.37215627195189055, -0.014195227808178902, 0.4488958835974819, 0.9210907665878788, 0.007178701151811249, 0.09898764176558517, 0.19365507470223775, 0.02113948024687932, -0.02187494890297264], "std": [0.38547981413982485, 1.2363428049908227, 6.253721777930356e-05, 0.0, 0.0, 0.0023752378106487726, 0.002358661842387348, 0.10900922439396148, 0.0902471883610723, 0.1032669305011902, 0.2873436994918858, 0.05183555785044611, 0.04324760289006713, 0.1308271414132177, 0.015956810059238692, 0.015712054043672426], "count": [821]}, "action": {"min": [-0.2, -0.6642857142857144, -0.08, 0.0, -1.0, -1.0, -0.6571428571428571, -0.5142857142857143, -0.18571428571428572, -0.11714285714285716, -0.2285714285714286, -1.0], "max": [1.0, 0.9571428571428572, 0.03142857142857143, 0.0, 1.0, 0.6857142857142858, 0.6714285714285714, 0.6071428571428572, 0.15714285714285714, 0.12, 0.06, 1.0], "mean": [0.10354097790151386, 0.023934226552984154, -0.0004941708717591786, 0.0, -0.6151035322777101, -0.012267269879937372, -0.0032190708195580383, -0.0055768226900991735, -0.0058082477814511944, 4.17609187402115e-05, -0.0065634243953366965, 0.10596833130328867], "std": [0.29132468319002724, 0.20156256718937032, 0.0067714027334066, 0.0, 0.7884463485738824, 0.23240441034093115, 0.1689740858079549, 0.2147837342426153, 0.031023075314247313, 0.018623976895142533, 0.03286655792308166, 0.9943695051442325], "count": [821]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01948842965066433], "std": [0.1382339596748352], "count": [821]}, "next.done": {"min": [false], "max": [true], "mean": [0.001218026796589525], "std": [0.03487897944768904], "count": [821]}, "timestamp": {"min": [0.0], "max": [41.0], "mean": [20.5], "std": [11.850105484762572], "count": [821]}, "frame_index": {"min": [0], "max": [820], "mean": [410.0], "std": [237.00210969525145], "count": [821]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [821]}, "index": {"min": [53815], "max": [54635], "mean": [54225.0], "std": [237.00210969525145], "count": [821]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [821]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6897995118468251]], [[0.6355215056228769]], [[0.5342881317191162]]], "std": [[[0.19053169973096942]], [[0.1766098538722255]], [[0.21002327842704924]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.61538842971849]], [[0.5124064715490089]], [[0.4669368805572016]]], "std": [[[0.20602332848354019]], [[0.24019985655146767]], [[0.23230776752548052]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.613985448889114]], [[0.5043244883166911]], [[0.46052989165808356]]], "std": [[[0.21484360111448755]], [[0.25612254216130736]], [[0.25071860024654824]]], "count": [228]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1400]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1400]}, "observation.state": {"min": [1.2839011011225456, -3.899540395284561, 0.6999957802626812, 0.0, 0.0, 0.6640548706054688, 0.7070099115371704, 0.1296745341618366, -0.16519293066532903, 0.29368990237688153, -0.9923141598701477, -0.15273511409759521, -0.2511548697948456, 3.852604277199134e-05, 0.002864638493104359, -0.040008479951174174], "max": [3.087931476512028, -1.0382582437367462, 0.7004340727246277, 0.0, 0.0, 0.70720374584198, 0.7476838827133179, 0.5342131051925283, 0.3039707430323757, 0.5872945570373325, 0.996950626373291, 0.2687087059020996, 0.24902240931987762, 0.27122825384140015, 0.04002125281240085, -0.0012555634980191163], "mean": [2.707628551818075, -3.1347964346315917, 0.7001679767478278, 0.0, 0.0, 0.6926355708071164, 0.7208022666403225, 0.32977400296536835, 0.036547030254822, 0.44221087264594516, -0.5666038058911052, 0.017119446088160788, -0.017799750263303785, 0.15807028323006828, 0.023008271070664818, -0.022125405563726698], "std": [0.5562340190897683, 1.179605316681572, 0.00016739722238578918, 0.0, 0.0, 0.019234335829064694, 0.018168714418088004, 0.14106654241790356, 0.14865111289460703, 0.09677128191363615, 0.7903770256515827, 0.09804803476926732, 0.0855481923157739, 0.10833398469458166, 0.014888889472944172, 0.015466517506216285], "count": [1400]}, "action": {"min": [-0.35000000000000003, -0.7214285714285715, -0.09714285714285714, 0.0, -1.0, -0.6071428571428572, -0.45714285714285713, -0.4714285714285715, -0.11142857142857143, -0.1457142857142857, -0.17714285714285713, -1.0], "max": [0.7642857142857143, 0.8785714285714286, 0.0, 0.0, 1.0, 0.6428571428571428, 0.5142857142857143, 0.4857142857142857, 0.26857142857142857, 0.13142857142857142, 0.14, 1.0], "mean": [0.06845408163265307, 0.02940306122448979, -0.002291836734693876, 0.0, -0.5428571428571428, -0.003168367346938751, 4.081632653061188e-05, -0.006510204081632634, 0.0028734693877550998, 0.001061224489795919, -0.0018285714285714261, 0.11857142857142858], "std": [0.19508559664870964, 0.2189167958133221, 0.00957346721250844, 0.0, 0.8398250546685204, 0.1466473654265488, 0.11903645506448703, 0.14060819282689535, 0.026842370479857224, 0.02701892837676807, 0.03119958884381886, 0.9929455253570247], "count": [1400]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011428571306169033], "std": [0.10629185289144516], "count": [1400]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007142857142857143], "std": [0.026716577441807207], "count": [1400]}, "timestamp": {"min": [0.0], "max": [69.95], "mean": [34.975], "std": [20.207254266723126], "count": [1400]}, "frame_index": {"min": [0], "max": [1399], "mean": [699.5], "std": [404.1450853344625], "count": [1400]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [1400]}, "index": {"min": [54636], "max": [56035], "mean": [55335.5], "std": [404.1450853344625], "count": [1400]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1400]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.703621835262707]], [[0.6923821962796725]], [[0.6609046389434492]]], "std": [[[0.20486442564664575]], [[0.20063264266707123]], [[0.23351834341124314]]], "count": [208]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5432879391838522]], [[0.5387498844083437]], [[0.5271993041577921]]], "std": [[[0.23279759356779922]], [[0.2051030510258774]], [[0.1981129526000344]]], "count": [208]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5419676537607231]], [[0.539322364599996]], [[0.5301117156245949]]], "std": [[[0.23857600203380228]], [[0.21631890832357378]], [[0.2114956675567841]]], "count": [208]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1234]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1234]}, "observation.state": {"min": [-1.118019012334623, -2.923042315156692, 0.6999959614446487, 0.0, 0.0, -0.01513677928596735, 0.9998854398727417, 0.244085872573429, -0.22858993188429344, 0.3057886297334278, -0.9906320571899414, -0.06116339564323425, -0.24581898748874664, 0.00020305626094341278, 0.0029439156354494262, -0.040046339047448476], "max": [2.0257147808372378, -1.6040334794935218, 0.7002020588959018, 0.0, 0.0, 0.0005126186297275126, 1.0, 0.6678175445846551, 0.004438471308307879, 0.5995768863307089, 0.9964876770973206, 0.12105396389961243, 0.13713784515857697, 0.28208157420158386, 0.04000793694491032, -0.002988299158500763], "mean": [-0.09772298618821988, -2.5012977663570526, 0.700062773373164, 0.0, 0.0, -0.004144306026630691, 0.9999684003608926, 0.4516772340273367, -0.1172868653311096, 0.41246133134109525, -0.4239400586587297, 0.01254490626495893, -0.1232128711281468, 0.09628287803263662, 0.020895491183615438, -0.020341079983508266], "std": [1.1345503430119825, 0.5979506553404978, 7.632441290866797e-05, 0.0, 0.0, 0.006787128910684142, 4.9655206978951215e-05, 0.12937067413261613, 0.0647097386253718, 0.07295032842631335, 0.8726248636453794, 0.055317899983226275, 0.14964486201319901, 0.09347641434638625, 0.015211490256472955, 0.015580827921618247], "count": [1234]}, "action": {"min": [-0.8857142857142857, 0.0, -0.07714285714285714, 0.0, -1.0, -0.7000000000000001, -0.39285714285714285, -0.29285714285714287, -0.15428571428571428, -0.07714285714285714, -0.12, -1.0], "max": [1.0, 0.8357142857142857, 0.0, 0.0, 1.0, 0.4357142857142858, 0.44285714285714284, 0.5285714285714286, 0.2, 0.10285714285714286, 0.05142857142857143, 1.0], "mean": [0.06670525584626073, 0.045606621903218326, -0.0006598749710581154, 0.0, -0.5915721231766613, 0.0005325306783977628, -0.015292891873118816, -0.004294975688816854, 0.001213243806436675, -0.0006737670757119706, -0.0007108126881222507, 0.20421393841166938], "std": [0.2510206737376317, 0.15434507655845175, 0.006055552412804707, 0.0, 0.8062520840780942, 0.16404659871410654, 0.08901788149037453, 0.11844597024993493, 0.025172640577907905, 0.015356140347176549, 0.01129190781328444, 0.9789262829030605], "count": [1234]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012965964153409004], "std": [0.11312757432460785], "count": [1234]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008103727714748784], "std": [0.028455510317794874], "count": [1234]}, "timestamp": {"min": [0.0], "max": [61.65], "mean": [30.825000000000003], "std": [17.811249956137274], "count": [1234]}, "frame_index": {"min": [0], "max": [1233], "mean": [616.5], "std": [356.22499912274543], "count": [1234]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1234]}, "index": {"min": [56036], "max": [57269], "mean": [56652.5], "std": [356.22499912274543], "count": [1234]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1234]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7159030894329539]], [[0.6606733618315703]], [[0.5743443667591017]]], "std": [[[0.21347822923479423]], [[0.1992744396736626]], [[0.23520456848905133]]], "count": [161]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6456199057833051]], [[0.5896529045657835]], [[0.5444449775388247]]], "std": [[[0.21756580471093864]], [[0.23706780038020445]], [[0.25101882747286786]]], "count": [161]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6526499742538829]], [[0.5937547157110127]], [[0.5470212959398263]]], "std": [[[0.21684192644188374]], [[0.23841621929614945]], [[0.2533530590979371]]], "count": [161]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [876]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [876]}, "observation.state": {"min": [1.2158350785846572, -3.8379328092981346, 0.6999948920620008, 0.0, 0.0, -0.008540394715964794, 0.7716217637062073, 0.06304407055193621, -0.23602918287079389, 0.30839311960653315, -0.9947808384895325, -0.009551763534545898, -0.20429885387420654, 0.011981042101979256, 0.003270141895304332, -0.03994722322032582], "max": [3.4100426811710225, -0.793933498147134, 0.7001231488872416, 0.0, 0.0, 0.6360816359519958, 1.0, 0.6818541337511028, 0.03200042258625091, 0.5902652748058579, -0.9476206302642822, 0.1584562063217163, -0.012936146929860115, 0.28260284662246704, 0.0400208477811438, -0.0031099290987541012], "mean": [1.7904101921165716, -2.9115878677214773, 0.7000105103282613, 0.0, 0.0, 0.13570595608026018, 0.9533636830577022, 0.3941752841670075, -0.07612650692235769, 0.42504234157794524, -0.9694329257289024, 0.08747106089711734, -0.12166434757041503, 0.1476438202423184, 0.020142693494757214, -0.018965849784139798], "std": [0.9026965664955798, 1.2948136363459382, 2.6886338557878492e-05, 0.0, 0.0, 0.25417124812382974, 0.08988085399979051, 0.17538704521307122, 0.08300207595888416, 0.0698833536726008, 0.016379291295726708, 0.03441305190666423, 0.039025597062237086, 0.11389541251521416, 0.015363955197096197, 0.015974493261618795], "count": [876]}, "action": {"min": [-0.15714285714285717, -0.807142857142857, -0.025714285714285714, 0.0, -1.0, -0.8285714285714285, -0.5785714285714286, -0.3428571428571429, -0.13142857142857142, -0.1742857142857143, -0.07142857142857142, -1.0], "max": [1.0, 1.0, 0.58, 0.0, 1.0, 0.55, 0.55, 0.5428571428571429, 0.23142857142857146, 0.18857142857142858, 0.08285714285714285, 1.0], "mean": [0.08619536855838228, 0.06925146771037181, 0.028460534898891065, 0.0, -0.54337899543379, -0.015500652315720839, -0.0010844748858447625, 0.0014514024787997501, 0.002883235485975214, -0.00018917155903457218, -0.00048271363339856343, 0.22146118721461186], "std": [0.23672481827463887, 0.2779292047431595, 0.11066654823222632, 0.0, 0.8394875027785454, 0.22412292637868825, 0.1483584436115491, 0.1772780675209635, 0.031762433398366714, 0.03540625938960186, 0.013779347814169729, 0.9751691866324994], "count": [876]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01826483942568302], "std": [0.13390757143497467], "count": [876]}, "next.done": {"min": [false], "max": [true], "mean": [0.001141552511415525], "std": [0.03376757867065991], "count": [876]}, "timestamp": {"min": [0.0], "max": [43.75], "mean": [21.875], "std": [12.643962656804497], "count": [876]}, "frame_index": {"min": [0], "max": [875], "mean": [437.5], "std": [252.87925313608997], "count": [876]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [876]}, "index": {"min": [57270], "max": [58145], "mean": [57707.5], "std": [252.87925313608997], "count": [876]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [876]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.058823529411764705]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6852196575949215]], [[0.6997810175815619]], [[0.6858076472447828]]], "std": [[[0.21757836461834587]], [[0.21183349047842467]], [[0.2342370604309185]]], "count": [156]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5141725408785184]], [[0.5031917240225292]], [[0.4963654949174807]]], "std": [[[0.2544111343214564]], [[0.25283902646300055]], [[0.25138410412469253]]], "count": [156]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5036978236870169]], [[0.49199153694931497]], [[0.4873658039750856]]], "std": [[[0.2716230040998837]], [[0.2694065694564706]], [[0.26640796141906836]]], "count": [156]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [843]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [843]}, "observation.state": {"min": [1.0002802928049646, -4.025846149621966, 0.6999957907497056, 0.0, 0.0, 0.6303260326385498, 0.08732010424137115, 0.1935965225414995, -0.09070535080487141, 0.2902282766350043, -0.9945935010910034, -0.025567084550857544, -0.21638649702072144, 8.648947550682351e-05, 0.005610349258352176, -0.039939443016933536], "max": [3.3571907344058602, -1.4816146180105327, 0.7002274791650964, 0.0, 0.0, 0.9961802959442139, 0.7763306498527527, 0.6797745505698698, 0.1996701860505845, 0.600030530806796, 0.992442786693573, 0.05332645773887634, 0.14323130249977112, 0.3121417462825775, 0.040024931754787434, -0.004596675821351754], "mean": [2.4940624483441582, -3.211883689639801, 0.7000748351889922, 0.0, 0.0, 0.778444933085255, 0.5550199973784732, 0.4680964959258298, 0.006355524563550458, 0.4190341779504786, -0.8990401226854834, 0.005894747599163938, -0.1459172000469969, 0.16241184446348333, 0.019830271325059694, -0.01863066530104197], "std": [1.0562029118038423, 1.101053462941336, 7.903868829603093e-05, 0.0, 0.0, 0.12867964518013433, 0.2634726132717449, 0.11214295980252212, 0.09009646078068974, 0.07300946285420865, 0.35724206300183725, 0.01755713731068433, 0.0686247878857089, 0.10669191698188248, 0.014602556330969768, 0.01524753441637675], "count": [843]}, "action": {"min": [-0.42142857142857143, -0.7428571428571429, -0.11714285714285716, 0.0, -1.0, -1.0, -0.7428571428571429, -0.4857142857142857, -0.10571428571428572, -0.09428571428571429, -0.0, -1.0], "max": [1.0, 1.0, 0.5542857142857143, 0.0, 1.0, 0.7214285714285715, 0.6642857142857144, 0.6, 0.19714285714285715, 0.19142857142857142, 0.07142857142857142, 1.0], "mean": [0.07270801559057788, 0.06509066259955937, 0.029079816980172854, 0.0, -0.45907473309608543, -0.004583968818844266, -0.0038044399254363584, -0.007549567869852575, 0.004483985765124557, 0.0003931537027622431, 0.0013590916793763765, 0.27164887307236063], "std": [0.25225109838378407, 0.28636156706257154, 0.11873459512822263, 0.0, 0.8883976527618518, 0.24940942787601847, 0.15635671176886048, 0.18736883500640672, 0.027748300726381923, 0.02524703770098625, 0.0069709887062898495, 0.9623964306659182], "count": [843]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018979834392666817], "std": [0.13645364344120026], "count": [843]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011862396204033216], "std": [0.034421395322768465], "count": [843]}, "timestamp": {"min": [0.0], "max": [42.1], "mean": [21.05], "std": [12.167648362221298], "count": [843]}, "frame_index": {"min": [0], "max": [842], "mean": [421.0], "std": [243.35296724442597], "count": [843]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [843]}, "index": {"min": [58146], "max": [58988], "mean": [58567.0], "std": [243.35296724442597], "count": [843]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [843]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6287438030700019]], [[0.5818260987391918]], [[0.468908435763357]]], "std": [[[0.189376576467656]], [[0.17040849218801976]], [[0.1971008036699361]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6396420849901918]], [[0.6273168579633459]], [[0.5559208975066806]]], "std": [[[0.1753375380388549]], [[0.15852426192915592]], [[0.17052382079984502]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5966848977614592]], [[0.5834855070093358]], [[0.5161191819799752]]], "std": [[[0.2024224311983711]], [[0.18938779455919091]], [[0.19370347075351813]]], "count": [180]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1022]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1022]}, "observation.state": {"min": [1.037874064923872, -3.704239399077823, 0.6999968699981128, 0.0, 0.0, 0.7063694000244141, 0.6993112564086914, 0.12621906328041388, -0.3720307023170535, 0.2611341941989338, -0.9937423467636108, -0.4084095060825348, -0.20174837112426758, 0.0004003788926638663, 0.002905207936823264, -0.039886550272617116], "max": [2.198927288127019, -0.8808837734817373, 0.7004374892444096, 0.0, 0.0, 0.7148172855377197, 0.7078433632850647, 0.5528616006673897, 0.050508098128374534, 0.5791022218670248, 0.9881000518798828, 0.4092574119567871, 0.113339364528656, 0.5039554238319397, 0.04003162565189299, -0.0023091811828983384], "mean": [1.839626220801214, -2.9620081394429927, 0.7000349442200196, 0.0, 0.0, 0.7087001839029345, 0.7054967603221565, 0.4345354859444236, -0.18316867362567654, 0.4188283354913421, -0.8674241782051243, 0.04623339517650772, -0.05418312837989164, 0.2660302905218996, 0.019402740953936626, -0.018184392480193337], "std": [0.49927910502853856, 1.1834056472533625, 9.660800446192244e-05, 0.0, 0.0, 0.0030131854097956373, 0.0030455551323720124, 0.08327024521237611, 0.1423131288644108, 0.09771595289419865, 0.3438097149729198, 0.14573628175101375, 0.052999788788357566, 0.17168774066248021, 0.015394113112491711, 0.01597048854973248], "count": [1022]}, "action": {"min": [-0.22142857142857142, 0.0, 0.0, 0.0, -1.0, -0.8428571428571429, -0.5428571428571429, -0.4785714285714286, -0.12285714285714287, -0.15428571428571428, -0.2885714285714286, -1.0], "max": [0.9214285714285714, 0.7285714285714285, 0.0, 0.0, 1.0, 0.6357142857142857, 0.5785714285714286, 0.6285714285714287, 0.30857142857142855, 0.21142857142857144, 0.08285714285714285, 1.0], "mean": [0.08742661448140902, 0.06690662566396416, 0.0, 0.0, -0.5792563600782779, -0.009707855745037733, 0.0006989097008666171, -0.007548224769359809, 0.006516634050880624, -0.0024601621470506005, -0.001012021246854906, 0.2583170254403131], "std": [0.24461493917044197, 0.16367766224908703, 0.0, 0.0, 0.8151454283186912, 0.17467130507749656, 0.16019231785712035, 0.17984709410002764, 0.04872186443027319, 0.03577693917933065, 0.04735588443678949, 0.96606020224813], "count": [1022]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015655577182769775], "std": [0.12413895130157471], "count": [1022]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009784735812133072], "std": [0.03126525500718289], "count": [1022]}, "timestamp": {"min": [0.0], "max": [51.05], "mean": [25.525], "std": [14.75129231626843], "count": [1022]}, "frame_index": {"min": [0], "max": [1021], "mean": [510.5], "std": [295.0258463253686], "count": [1022]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1022]}, "index": {"min": [58989], "max": [60010], "mean": [59499.5], "std": [295.0258463253686], "count": [1022]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1022]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7033039704826742]], [[0.7225983755381159]], [[0.679507430945886]]], "std": [[[0.2212421603615252]], [[0.21758031715042958]], [[0.23803881931500007]]], "count": [195]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5676329427942551]], [[0.5380646767671411]], [[0.5142476525553631]]], "std": [[[0.23937979553966332]], [[0.24593794397339272]], [[0.24738730837601783]]], "count": [195]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.536712816486771]], [[0.4990486629096751]], [[0.47288619573179835]]], "std": [[[0.23164083592393528]], [[0.24120615432653345]], [[0.24517160335403324]]], "count": [195]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1132]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1132]}, "observation.state": {"min": [1.6813698233667547, -3.607057946679411, 0.6999979799391525, 0.0, 0.0, 0.7070646286010742, 0.6211402416229248, 0.17735006410517207, -0.1981828546844222, 0.28689008582565545, -0.9814607501029968, -0.49605822563171387, -0.2512809634208679, 0.0002092053327942267, 0.004859083321757559, -0.04000673963813981], "max": [2.8956315792078122, -0.7765857751163066, 0.7003332081039463, 0.0, 0.0, 0.7836995124816895, 0.7071489095687866, 0.6498173551072526, 0.21487577831106797, 0.62430505407587, 0.9818310737609863, 0.4014812409877777, 0.21696142852306366, 0.4136587679386139, 0.04003133513723755, -0.004837140960706553], "mean": [1.8662661954940278, -2.886452687065501, 0.700089206395286, 0.0, 0.0, 0.7137502456090475, 0.7000286002567716, 0.49072669771205785, 0.000698116870518875, 0.4038587643495162, -0.5992037165817861, 0.019795055339909273, -0.11004176930040648, 0.1982810573676477, 0.022972583299182895, -0.022251537616185015], "std": [0.33108307407359144, 1.1072157804077205, 9.109635449409549e-05, 0.0, 0.0, 0.015405382069980435, 0.016828219784459315, 0.12487237496467775, 0.1325713511476294, 0.08699827876429042, 0.6928892588516213, 0.2398073683843816, 0.14487993898472543, 0.1747718489119297, 0.016377416905360136, 0.016884005959271545], "count": [1132]}, "action": {"min": [-0.6500000000000001, -0.95, -0.16285714285714287, 0.0, -1.0, -0.4928571428571429, -0.5357142857142857, -0.3357142857142857, -0.1457142857142857, -0.08571428571428572, -0.30285714285714294, -1.0], "max": [1.0, 0.8214285714285715, 0.3, 0.0, 1.0, 0.4, 0.3785714285714286, 0.5, 0.26571428571428574, 0.10571428571428572, 0.07142857142857142, 1.0], "mean": [0.08186521958606764, -0.023630742049469963, 0.0004341241797072195, 0.0, -0.6501766784452296, -0.003773346794548176, -0.0038679959616355177, -0.011036092882382633, 0.0036193841494194905, -0.00017667844522968203, -0.0027637556789500252, 0.007067137809187279], "std": [0.23226963200044434, 0.21327451571503717, 0.03466077308804098, 0.0, 0.7597830524603213, 0.12862787185228403, 0.12521076350387636, 0.1275304029364995, 0.04672172283678649, 0.013233776606973275, 0.05069843127880525, 0.9999750274697733], "count": [1132]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01413427572697401], "std": [0.11804448068141937], "count": [1132]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008833922261484099], "std": [0.02970878395901102], "count": [1132]}, "timestamp": {"min": [0.0], "max": [56.55], "mean": [28.275], "std": [16.33900624273092], "count": [1132]}, "frame_index": {"min": [0], "max": [1131], "mean": [565.5], "std": [326.7801248546184], "count": [1132]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1132]}, "index": {"min": [60011], "max": [61142], "mean": [60576.5], "std": [326.7801248546184], "count": [1132]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1132]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.054901960784313725]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5294821509145025]], [[0.5339684576818007]], [[0.4750013142965019]]], "std": [[[0.1562531907863124]], [[0.16276835480857565]], [[0.1693358344472394]]], "count": [195]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5101403112013535]], [[0.4869748613713314]], [[0.44250848569721357]]], "std": [[[0.162475656321104]], [[0.1713800566184258]], [[0.1909801641463737]]], "count": [195]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.523179071195285]], [[0.5049047329894498]], [[0.4572850193888653]]], "std": [[[0.17786711276597178]], [[0.18393713034504536]], [[0.2042698642900646]]], "count": [195]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1136]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1136]}, "observation.state": {"min": [1.119332580861504, -3.376086985280935, 0.6999962084415075, 0.0, 0.0, -0.11208384484052658, 0.9936987161636353, 0.06485601072172553, -0.30185576531399105, 0.2887789583894431, -0.9898752570152283, -0.3047851622104645, -0.1685158610343933, 0.00032586223096586764, 0.0051109457249320115, -0.04010898116232562], "max": [4.829236492604202, -1.577156209157003, 0.7002234396620005, 0.0, 0.0, 0.00021964350889902562, 1.0, 0.6283301630374787, 0.10321193994957589, 0.612144472712219, 0.9906396865844727, 0.26373061537742615, 0.13687853515148163, 0.35057729482650757, 0.04002841594909594, -0.005106464421709414], "mean": [2.1233304191958826, -3.1653571459525742, 0.7000470582282933, 0.0, 0.0, -0.02612573480704255, 0.9988976064282404, 0.39286613964853423, -0.1261431956341166, 0.4473599618236198, -0.9177512136143697, 0.062108887084038326, -0.0790070266057452, 0.15265849478998117, 0.021728302605484546, -0.020871905172951295], "std": [1.424159307374225, 0.5004271183513818, 5.68410692101589e-05, 0.0, 0.0, 0.03895545213395099, 0.0018716485946213633, 0.14860713450916882, 0.14101886243734088, 0.09644510033786222, 0.280759515184799, 0.15328871464275484, 0.07589535035725124, 0.12745600792619896, 0.01558474408599021, 0.01612819373944864], "count": [1136]}, "action": {"min": [-0.75, -1.0, -0.32, 0.0, -1.0, -0.8142857142857143, -0.44285714285714284, -0.45714285714285713, -0.12857142857142856, -0.12857142857142856, -0.16285714285714287, -1.0], "max": [1.0, 1.0, 0.08571428571428572, 0.0, 1.0, 0.4857142857142857, 0.46428571428571436, 0.5357142857142857, 0.2, 0.09714285714285714, 0.12285714285714287, 1.0], "mean": [0.09293259557344072, 0.02755281690140846, -0.0025452716297786693, 0.0, -0.5704225352112676, -0.010821177062374215, 0.000710513078470824, -0.006822183098591593, 0.0026131790744466817, -0.00040241448692152835, -0.001589537223340042, 0.12852112676056338], "std": [0.2887508308372235, 0.2986655985882517, 0.03288779787593859, 0.0, 0.8213514055038439, 0.19155535213565292, 0.12365868443356137, 0.16771403077561797, 0.0338400271526867, 0.016741500653380446, 0.03885250393644306, 0.9917067711658526], "count": [1136]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014084506779909134], "std": [0.11783943325281143], "count": [1136]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008802816901408451], "std": [0.029656479802681365], "count": [1136]}, "timestamp": {"min": [0.0], "max": [56.75], "mean": [28.375], "std": [16.39674129209826], "count": [1136]}, "frame_index": {"min": [0], "max": [1135], "mean": [567.5], "std": [327.9348258419651], "count": [1136]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1136]}, "index": {"min": [61143], "max": [62278], "mean": [61710.5], "std": [327.9348258419651], "count": [1136]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1136]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6247992955760218]], [[0.6348952740869891]], [[0.5824064347550675]]], "std": [[[0.2061775160270954]], [[0.20801328614603362]], [[0.21342588272319893]]], "count": [185]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49954886383396263]], [[0.46383220306703765]], [[0.4408198409088086]]], "std": [[[0.20685234065889493]], [[0.21902544794997028]], [[0.23424425070449706]]], "count": [185]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.501371904382266]], [[0.47556037551079344]], [[0.45879270358507634]]], "std": [[[0.22502156755061553]], [[0.23360383902879225]], [[0.24413510421169524]]], "count": [185]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1061]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1061]}, "observation.state": {"min": [2.37658534016621, -4.073356123737986, 0.6999971812670019, 0.0, 0.0, 0.7059383392333984, 0.7009767293930054, 0.03326061529448687, -0.29035882523997936, 0.2978779921133047, -0.9991415739059448, -0.03510682284832001, -0.19429995119571686, 0.0003010393411386758, 0.003657809016984762, -0.0400045961626281], "max": [4.227451504451347, -0.8712597876255228, 0.7001148658176354, 0.0, 0.0, 0.713184118270874, 0.7082733511924744, 0.5737550809476883, 0.06499474928531246, 0.5782919489654059, 0.9998360276222229, 0.45384910702705383, 0.19250941276550293, 0.3397860825061798, 0.040027834426974836, -0.0027898472373821493], "mean": [2.96550723479541, -3.173638125584899, 0.7000106078520487, 0.0, 0.0, 0.7081456001247582, 0.7060617841604631, 0.3685883511412716, -0.07562132302231668, 0.42475665535724183, -0.26578529728234207, 0.19261095038212267, -0.05957959954431505, 0.19410511135792646, 0.019699997896560722, -0.018475598465411594], "std": [0.8241064205053761, 1.1865834118977474, 2.4388113027900476e-05, 0.0, 0.0, 0.0018016570959440822, 0.001815559700324102, 0.1415587584471213, 0.10221144134490676, 0.07943507104432508, 0.9006750762434691, 0.12180646420931454, 0.08904148765375497, 0.13058282957938852, 0.015653941073022235, 0.01639732809630439], "count": [1061]}, "action": {"min": [-0.95, -0.8785714285714286, -0.03428571428571429, 0.0, -1.0, -0.7642857142857143, -0.5, -0.5142857142857143, -0.12285714285714287, -0.20285714285714287, -0.4114285714285714, -1.0], "max": [1.0, 0.07142857142857144, 0.02, 0.0, 1.0, 0.44285714285714284, 0.3857142857142857, 0.5928571428571429, 0.18571428571428572, 0.07714285714285714, 0.11142857142857143, 1.0], "mean": [0.09792648444863335, -0.06727480813248957, -0.0004416318836676988, 0.0, -0.5438265786993403, -0.015463848121718063, -0.0017503702706341685, -0.003628652214891605, 0.0027601992729231217, -0.0015484044701763843, -0.0064682913693281255, 0.22525918944392084], "std": [0.2898194206771803, 0.1928759918189099, 0.00332467962710998, 0.0, 0.8391976241030306, 0.1810222467678954, 0.12153095393971057, 0.16698224620828298, 0.03218543218207052, 0.02707760165843117, 0.06451216686002449, 0.9742988748690321], "count": [1061]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015080112963914871], "std": [0.12187165766954422], "count": [1061]}, "next.done": {"min": [false], "max": [true], "mean": [0.000942507068803016], "std": [0.0306858069672002], "count": [1061]}, "timestamp": {"min": [0.0], "max": [53.0], "mean": [26.5], "std": [15.31420908829444], "count": [1061]}, "frame_index": {"min": [0], "max": [1060], "mean": [530.0], "std": [306.2841817658888], "count": [1061]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [1061]}, "index": {"min": [62279], "max": [63339], "mean": [62809.0], "std": [306.2841817658888], "count": [1061]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1061]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6107655791184374]], [[0.6110217480792259]], [[0.5671058643172683]]], "std": [[[0.22000076694737922]], [[0.2263991498041471]], [[0.22919133779635864]]], "count": [219]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4510481680119429]], [[0.42367978426878383]], [[0.4057535443889581]]], "std": [[[0.24136204507494208]], [[0.24435710470928518]], [[0.25042273313660357]]], "count": [219]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47279962824349203]], [[0.44561368546241276]], [[0.4284896450297174]]], "std": [[[0.24097602061913995]], [[0.24602466262812545]], [[0.2541965028084202]]], "count": [219]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1325]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1325]}, "observation.state": {"min": [0.745440328893819, -4.0580556570331465, 0.6999964495877117, 0.0, 0.0, -0.0001631130144232884, 0.9980185031890869, 0.02285628437028553, -0.30811054331371235, 0.30170661267324106, -0.9980248808860779, -0.02342785894870758, -0.30021554231643677, 0.004376860335469246, 0.003911297616636999, -0.03985292093686719], "max": [4.743157430326746, -1.553807031794704, 0.7001280328850134, 0.0, 0.0, 0.06292127072811127, 1.0, 0.6407268197244802, -0.00668070984375313, 0.6170878356123255, -0.8456869125366211, 0.31553471088409424, -0.019125711172819138, 0.5083023905754089, 0.04002776824561998, -0.003509237795633184], "mean": [2.052185981421086, -2.4129463376737825, 0.7000081884508652, 0.0, 0.0, 0.011781380359009847, 0.9997792390607438, 0.4119554393609231, -0.16843589046648955, 0.42930484993271095, -0.9406025082660171, 0.1022426365231568, -0.12211598475305539, 0.23247349672968376, 0.020160166101654473, -0.019090234213693404], "std": [1.640738895786991, 1.153955835547307, 2.4735326391129977e-05, 0.0, 0.0, 0.01739241573424836, 0.00041631618039828785, 0.16495879912044592, 0.08674858417097708, 0.08550716461771234, 0.04957676710367087, 0.09104339399213231, 0.06540722989086635, 0.14433384805563282, 0.015882271653034945, 0.0164249812807615], "count": [1325]}, "action": {"min": [-1.0, -1.0, -0.13714285714285715, 0.0, -1.0, -0.9214285714285714, -0.4857142857142857, -0.4, -0.16285714285714287, -0.1657142857142857, -0.15714285714285714, -1.0], "max": [1.0, 0.8785714285714286, 0.08857142857142856, 0.0, 1.0, 0.6714285714285714, 0.5142857142857143, 0.6, 0.12285714285714287, 0.29428571428571426, 0.05714285714285715, 1.0], "mean": [0.08443126684636118, -0.07031266846361185, 0.0010652291105121285, 0.0, -0.6679245283018868, -0.012328840970350396, -0.003703504043126682, -0.0018005390835579612, 0.0028722371967655, 6.684636118598385e-05, -0.004258760107816712, 0.1969811320754717], "std": [0.2732204472156451, 0.2458558061966144, 0.01742407646278381, 0.0, 0.7442290134714525, 0.1984510243757494, 0.12137874306344006, 0.1410505452887012, 0.031008609287470117, 0.03166072305667103, 0.020413761178184556, 0.9804072794539359], "count": [1325]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02188679203391075], "std": [0.14631390571594238], "count": [1325]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007547169811320754], "std": [0.02746174399797774], "count": [1325]}, "timestamp": {"min": [0.0], "max": [66.2], "mean": [33.1], "std": [19.124722220204927], "count": [1325]}, "frame_index": {"min": [0], "max": [1324], "mean": [662.0], "std": [382.4944444040985], "count": [1325]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [1325]}, "index": {"min": [63340], "max": [64664], "mean": [64002.0], "std": [382.4944444040985], "count": [1325]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1325]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.06274509803921569]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6198783597517888]], [[0.6296562527795897]], [[0.5858875044473435]]], "std": [[[0.17928098144774587]], [[0.16059701392510053]], [[0.16748441104722805]]], "count": [155]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5957974773988477]], [[0.5779713489163306]], [[0.5549171910053714]]], "std": [[[0.2430895117180033]], [[0.22731637528129991]], [[0.21296406256080358]]], "count": [155]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.054901960784313725]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6118387861933458]], [[0.5890495003996432]], [[0.5636538617147967]]], "std": [[[0.24366095509221805]], [[0.22723013285085242]], [[0.21340245384840878]]], "count": [155]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [837]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [837]}, "observation.state": {"min": [1.7021744484830945, -3.580557036609141, 0.6999957327289613, 0.0, 0.0, 0.7031463384628296, 0.7070649266242981, 0.00864085088644162, -0.18476646739581248, 0.3009650229401003, -0.9909949898719788, -0.025605812668800354, -0.22367359697818756, 0.012729172594845295, 0.004973328815856847, -0.039954209018810645], "max": [2.6040123882726256, -0.7696970860335306, 0.7002309137745933, 0.0, 0.0, 0.707148551940918, 0.7110450863838196, 0.7331233287790098, 0.05202993602294703, 0.5906950283459539, -0.9462270140647888, 0.10148108005523682, -0.13115015625953674, 0.2526455521583557, 0.040021294633895664, -0.00451702439507807], "mean": [1.9152756519129688, -2.815295681927493, 0.7000526524349089, 0.0, 0.0, 0.7058396386416582, 0.7083678320317286, 0.4774697920720035, -0.08432288458704736, 0.4310173321103145, -0.9682201303746395, 0.03548286365636646, -0.18657098395422794, 0.13309102160511194, 0.018409590401881407, -0.017749737581638437], "std": [0.31049297735251524, 1.1882509343883283, 7.050189910666744e-05, 0.0, 0.0, 0.0016496904272459319, 0.0016411315843042383, 0.19302244048308215, 0.0693366219754107, 0.08258944639830737, 0.013574441252953212, 0.03149266914446097, 0.021786779574462244, 0.08436870072486882, 0.015274618906145558, 0.015553542728143665], "count": [837]}, "action": {"min": [0.0, -1.0, -0.06857142857142857, 0.0, -1.0, -0.8928571428571429, -0.5928571428571429, -0.3785714285714286, -0.06857142857142857, -0.13714285714285715, -0.05428571428571429, -1.0], "max": [1.0, 0.6785714285714286, 0.0, 0.0, 1.0, 0.6642857142857144, 0.6285714285714287, 0.7071428571428572, 0.17714285714285713, 0.09428571428571429, 0.06, 1.0], "mean": [0.1074415429254139, -0.011921829663765145, -0.0004608294930875576, 0.0, -0.5937873357228196, -0.02454343744666323, 0.004147465437787978, -0.007074586106844156, 0.0042703533026113676, -0.003515958354668032, -0.0005017921146953401, 0.2927120669056153], "std": [0.2775369671318048, 0.1921935712860378, 0.004696141706089544, 0.0, 0.8046220230239711, 0.26606501581022257, 0.14555060400799485, 0.20927345099445654, 0.02758375233077883, 0.02267216863289751, 0.014958124007782113, 0.9562006305623486], "count": [837]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019115889444947243], "std": [0.1369323581457138], "count": [837]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011947431302270011], "std": [0.0345444021381146], "count": [837]}, "timestamp": {"min": [0.0], "max": [41.8], "mean": [20.9], "std": [12.081045760473993], "count": [837]}, "frame_index": {"min": [0], "max": [836], "mean": [418.0], "std": [241.62091520947988], "count": [837]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [837]}, "index": {"min": [64665], "max": [65501], "mean": [65083.0], "std": [241.62091520947988], "count": [837]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [837]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.047058823529411764]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6465243998254796]], [[0.6546980693787502]], [[0.6228115235616929]]], "std": [[[0.2526785000813119]], [[0.2432709661722649]], [[0.2678120709378464]]], "count": [212]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48344517749104726]], [[0.43395763740158505]], [[0.4039172501022446]]], "std": [[[0.25804766424010456]], [[0.2538447183471689]], [[0.25811648824727257]]], "count": [212]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49409510351047664]], [[0.44554598572251536]], [[0.41593809787582303]]], "std": [[[0.26582686046873305]], [[0.2622848396940132]], [[0.267317396944123]]], "count": [212]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1270]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1270]}, "observation.state": {"min": [0.6130942225462723, -4.932559840175586, 0.6999957400202897, 0.0, 0.0, -0.00021333066979423165, 0.03497881069779396, 0.1473736301019133, -0.2600791522911572, 0.3104922747104575, -0.9942503571510315, -0.07582227140665054, -0.25120607018470764, 0.0005681620095856488, 0.0050557821199342145, -0.03997952721997164], "max": [2.9662485964907237, -3.1909561787703797, 0.7002218390605006, 0.0, 0.0, 0.9993880987167358, 1.0, 0.7194491028909487, -0.0029718192489354145, 0.7626518799124025, 0.9953767657279968, 0.21548154950141907, 0.11380508542060852, 0.2643372416496277, 0.04001838770740761, -0.004293059068858853], "mean": [1.2622314226804625, -3.5448143077261256, 0.7000728552116202, 0.0, 0.0, 0.25828545100173256, 0.7790125963021451, 0.44101344734157005, -0.1429052960465156, 0.6233671296170643, -0.8521126556584215, 0.1212206377229822, -0.11242369575087736, 0.14593342374570256, 0.019133552986975555, -0.018112964876284526], "std": [0.9066381304520008, 0.5635735905479706, 8.90127162849425e-05, 0.0, 0.0, 0.4194199779725434, 0.38796249254030857, 0.18703226705293832, 0.06180148600199643, 0.09012286074075364, 0.44941252120561703, 0.09410952448552637, 0.07878169664117979, 0.09076979843300437, 0.015090653695344153, 0.015606753367774779], "count": [1270]}, "action": {"min": [-0.08571428571428573, -0.9357142857142857, 0.0, 0.0, -1.0, -0.8214285714285715, -0.32857142857142857, -0.45714285714285713, -0.12, -0.14857142857142858, -0.08571428571428572, -1.0], "max": [1.0, 0.08571428571428573, 0.4942857142857143, 0.0, 1.0, 0.7214285714285715, 0.5642857142857142, 0.7285714285714285, 0.21142857142857144, 0.1, 0.09714285714285714, 1.0], "mean": [0.09289088863892013, -0.07978627671541057, 0.045460067491563554, 0.0, -0.45511811023622045, -0.004167604049493819, -0.00165354330708663, 0.00222722159730034, 0.0008796400449943737, 0.0031743532058492643, -0.002915635545556805, 0.28818897637795277], "std": [0.22065250733083697, 0.20278485211542524, 0.1260679896265498, 0.0, 0.8904310785990134, 0.21431839390441706, 0.10697248173941228, 0.15982858340743025, 0.030016613457609878, 0.029306554703776872, 0.014692404081451954, 0.9575735553440288], "count": [1270]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012598425149917603], "std": [0.11153343319892883], "count": [1270]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007874015748031496], "std": [0.028049626977254924], "count": [1270]}, "timestamp": {"min": [0.0], "max": [63.45], "mean": [31.725], "std": [18.330865364188348], "count": [1270]}, "frame_index": {"min": [0], "max": [1269], "mean": [634.5], "std": [366.61730728376693], "count": [1270]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [1270]}, "index": {"min": [65502], "max": [66771], "mean": [66136.5], "std": [366.61730728376693], "count": [1270]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1270]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.07058823529411765]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6285585269286362]], [[0.44825260706526016]], [[0.368085317376664]]], "std": [[[0.19342092950616374]], [[0.21627435875578024]], [[0.21065543192458636]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6721528139918972]], [[0.5619450538444485]], [[0.4662054191928348]]], "std": [[[0.19917738824409126]], [[0.19872526099566099]], [[0.21893218833857012]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.69714171177493]], [[0.5791715950990757]], [[0.47214438720966634]]], "std": [[[0.19100524918666853]], [[0.19506768646949416]], [[0.22371525382529495]]], "count": [218]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1316]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1316]}, "observation.state": {"min": [1.5729650668317952, -5.010286857055785, 0.6999958931637643, 0.0, 0.0, -0.10504449158906937, 0.9944674968719482, 0.13073233963793385, -0.17731736949059496, 0.26381677963950756, -0.9994017481803894, -0.19667935371398926, -0.14742715656757355, 0.02340029552578926, 0.005150520262563231, -0.03995816666028308], "max": [4.345298795458425, -1.1963318995919643, 0.7003660492468021, 0.0, 0.0, 6.751943874405697e-05, 1.0, 0.5829202062450041, 0.1686247569599672, 0.6005578182822243, -0.8917249441146851, 0.26042336225509644, 0.16843082010746002, 0.4009639322757721, 0.0400268425391487, -0.00422472869909641], "mean": [2.122180952248528, -4.150907944835115, 0.7000843609510694, 0.0, 0.0, -0.017744797977591726, 0.9991567384870581, 0.4310877028379207, -0.05425011667166668, 0.4015480180891793, -0.9672828317141461, 0.017149760792637667, 0.0037991921589362165, 0.18547477696860906, 0.024074156815565174, -0.0228716159517942], "std": [0.9367499987749632, 1.4654936416947195, 0.0001036313337003132, 0.0, 0.0, 0.036977810572346836, 0.001898353995066337, 0.12387675661502257, 0.08199398712269969, 0.08637717094796776, 0.029883726999745026, 0.08855311368795588, 0.06607632034342618, 0.12866122070486521, 0.014337108380652545, 0.015056156805821638], "count": [1316]}, "action": {"min": [-0.4857142857142857, 0.0, -0.08285714285714285, 0.0, -1.0, -0.6857142857142858, -0.4928571428571429, -0.4, -0.2257142857142857, -0.17714285714285713, -0.11714285714285716, -1.0], "max": [0.7642857142857143, 0.9571428571428572, 0.0, 0.0, 1.0, 0.45, 0.5357142857142857, 0.6142857142857143, 0.10857142857142858, 0.20285714285714287, 0.1142857142857143, 1.0], "mean": [0.04948979591836735, 0.10804385584020848, -0.004333478072079892, 0.0, -0.601823708206687, -0.006225575336517571, 0.010524316109422473, -0.006388406426400359, 0.0013330438558402074, 0.004442032132001737, -0.003069908814589665, 0.0972644376899696], "std": [0.20207514774302657, 0.2501724686393904, 0.014654093677285835, 0.0, 0.7986289653151543, 0.13876902633786123, 0.11688089419981781, 0.12908697933872743, 0.027411714234279964, 0.03494792716300879, 0.025485874892601932, 0.9952585740202601], "count": [1316]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012158054858446121], "std": [0.10959123075008392], "count": [1316]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007598784194528875], "std": [0.027555416967277726], "count": [1316]}, "timestamp": {"min": [0.0], "max": [65.75], "mean": [32.875], "std": [18.99481837238777], "count": [1316]}, "frame_index": {"min": [0], "max": [1315], "mean": [657.5], "std": [379.89636744775544], "count": [1316]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [1316]}, "index": {"min": [66772], "max": [68087], "mean": [67429.5], "std": [379.89636744775544], "count": [1316]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1316]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7138192954717898]], [[0.6602153116114]], [[0.5804271776535932]]], "std": [[[0.21467789616814806]], [[0.20188310922895722]], [[0.23419217084020183]]], "count": [160]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6459236533969056]], [[0.5794745493870156]], [[0.5302978470746209]]], "std": [[[0.21696478467243946]], [[0.24551208902121496]], [[0.26399187872961044]]], "count": [160]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6310045530281815]], [[0.5633552801842783]], [[0.5134325311698166]]], "std": [[[0.23836573202594402]], [[0.26369798901050073]], [[0.27953400837741116]]], "count": [160]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [872]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [872]}, "observation.state": {"min": [1.4553897684785368, -3.467381386101923, 0.699995942531142, 0.0, 0.0, 0.6687881946563721, 0.7070850133895874, 0.048298700380393744, -0.03726848335796129, 0.30513135015341464, -0.9943636655807495, -0.06963852047920227, -0.22039563953876495, 0.03725719079375267, 0.0026746574680603335, -0.03991976142820556], "max": [2.2487290738789714, -0.8518230156584101, 0.7003348946508249, 0.0, 0.0, 0.7071285247802734, 0.7434530258178711, 0.582185325415109, 0.20691296748303367, 0.5895106852856302, -0.9408750534057617, 0.0343511700630188, 0.04625314474105835, 0.3049227297306061, 0.040022135129793794, -0.0026241474089163095], "mean": [1.993235703449135, -2.5770249115539414, 0.700073510517995, 0.0, 0.0, 0.6958923802599994, 0.7177976254339612, 0.3951654212397051, 0.05029919445107707, 0.4898313712351988, -0.974296598532878, -0.009261048091319175, -0.060274689283733515, 0.17387182814060548, 0.02113616107519913, -0.020448449192891512], "std": [0.35694894770222524, 0.9987074771903861, 9.142621465073743e-05, 0.0, 0.0, 0.01621792129095493, 0.01540541042611371, 0.12177794902908295, 0.07583869324197551, 0.06562126270961881, 0.013959263766570619, 0.03318048008535253, 0.07022728032704165, 0.10280195317371629, 0.015445728203152815, 0.015691967563939643], "count": [872]}, "action": {"min": [-0.95, 0.0, -0.07714285714285714, 0.0, -1.0, -1.0, -0.5071428571428571, -0.3857142857142857, -0.08571428571428572, -0.2, -0.025714285714285714, -1.0], "max": [1.0, 0.8428571428571429, 0.0, 0.0, 1.0, 0.6571428571428571, 0.5428571428571429, 0.7285714285714285, 0.09428571428571429, 0.09142857142857143, 0.014285714285714287, 1.0], "mean": [0.07765399737876802, 0.044044888597640906, -0.0032863695937090454, 0.0, -0.6513761467889908, -0.02136304062909566, -0.0021788990825688105, -0.007560615989515087, 0.004010484927916123, -0.0026146788990825697, -1.6382699868938346e-05, 0.16972477064220184], "std": [0.2793930919494754, 0.14527381047818555, 0.012564501231698557, 0.0, 0.7587549771792751, 0.2607804731382972, 0.11549290187792416, 0.16368486933517756, 0.018952612951722923, 0.036056774618836225, 0.0019422753019054369, 0.9854915028707617], "count": [872]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01834862306714058], "std": [0.13420860469341278], "count": [872]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011467889908256881], "std": [0.03384484991599474], "count": [872]}, "timestamp": {"min": [0.0], "max": [43.55], "mean": [21.775], "std": [12.586227592094463], "count": [872]}, "frame_index": {"min": [0], "max": [871], "mean": [435.5], "std": [251.72455184188928], "count": [872]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [872]}, "index": {"min": [68088], "max": [68959], "mean": [68523.5], "std": [251.72455184188928], "count": [872]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [872]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7232778928214537]], [[0.6857338181740509]], [[0.5739340760404126]]], "std": [[[0.2271422756936155]], [[0.23231716635449623]], [[0.27066547955603476]]], "count": [171]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.06666666666666667]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5735215505401607]], [[0.5117921430082335]], [[0.46561035779129134]]], "std": [[[0.22718990357435612]], [[0.24147918462636297]], [[0.24463970471385815]]], "count": [171]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5711314611322302]], [[0.5068197524406785]], [[0.4595646509486127]]], "std": [[[0.22639504134953273]], [[0.239056712796106]], [[0.24772517370453742]]], "count": [171]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [951]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [951]}, "observation.state": {"min": [1.4710200887561453, -3.153550630060478, 0.6999971106477799, 0.0, 0.0, 0.6232198476791382, 0.7070542573928833, 0.058592138148721884, -0.20247723959806807, 0.2816430334324015, -0.9937247633934021, -0.036147698760032654, -0.2192498743534088, 0.0010844649514183402, 0.0029192208536174564, -0.03987622482932705], "max": [3.2112888909661272, -0.7755941808052738, 0.7001787576936799, 0.0, 0.0, 0.7071592807769775, 0.7820466756820679, 0.4528940635756311, 0.005718318361386032, 0.6194191078320629, -0.8974290490150452, 0.10399281978607178, 0.046915486454963684, 0.42828232049942017, 0.04003196668893368, -0.0027032885690113496], "mean": [2.588937913027198, -2.47058625433831, 0.7000158115381026, 0.0, 0.0, 0.679974642900513, 0.7315872065903135, 0.3089490457624619, -0.0906999098408342, 0.5111419438062363, -0.9414323896138325, 0.051254613573744216, -0.09570432740751031, 0.26164664647891556, 0.01881897607652321, -0.017687597957686384], "std": [0.8093167793304858, 1.0327128525657265, 4.357451258214139e-05, 0.0, 0.0, 0.03656933560455703, 0.03282208074956488, 0.115934242225026, 0.061161623604728634, 0.09044912593220422, 0.040651875220885654, 0.02955993969032442, 0.04984854006674012, 0.1686668036591495, 0.015923410636433766, 0.01642853097453052], "count": [951]}, "action": {"min": [-0.05, 0.0, -0.07428571428571429, 0.0, -1.0, -0.7571428571428572, -0.5428571428571429, -0.46428571428571436, -0.14857142857142858, -0.15714285714285714, -0.10857142857142858, -1.0], "max": [1.0, 0.8642857142857142, 0.0, 0.0, 1.0, 0.5357142857142857, 0.7000000000000001, 0.6357142857142857, 0.19428571428571428, 0.1142857142857143, 0.07714285714285714, 1.0], "mean": [0.07325371789094184, 0.08767462821090584, -0.0065044314255670735, 0.0, -0.5962145110410094, -0.014556106354213588, -0.00039807721195734175, -0.004078413699864795, 0.004611686946071802, 0.00014120474688298032, -0.0007240498723148564, 0.24710830704521555], "std": [0.21571464242128596, 0.21319327073922897, 0.01758048073152054, 0.0, 0.8028251720169961, 0.1811147761443366, 0.13746470574827854, 0.18200543095781085, 0.03563507769787098, 0.03149755183910343, 0.01365560224986244, 0.9689878660691541], "count": [951]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016824394464492798], "std": [0.12861314415931702], "count": [951]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010515247108307045], "std": [0.03241016825956349], "count": [951]}, "timestamp": {"min": [0.0], "max": [47.5], "mean": [23.75], "std": [13.726495061255319], "count": [951]}, "frame_index": {"min": [0], "max": [950], "mean": [475.0], "std": [274.5299012251064], "count": [951]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [951]}, "index": {"min": [68960], "max": [69910], "mean": [69435.0], "std": [274.5299012251064], "count": [951]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [951]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.047058823529411764]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6088996220586387]], [[0.5645167098489873]], [[0.5005809845611079]]], "std": [[[0.18965232920663197]], [[0.1615738148168263]], [[0.16956331660734408]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6011027566747728]], [[0.5509022644798822]], [[0.5073959862361629]]], "std": [[[0.17770803823610937]], [[0.17276109315137847]], [[0.18307664350928388]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6018203829833229]], [[0.5530946296558046]], [[0.5107185277161338]]], "std": [[[0.18463686717850736]], [[0.1814986447295654]], [[0.19068906390888776]]], "count": [228]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1398]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1398]}, "observation.state": {"min": [1.5376765612286054, -3.9799218632684856, 0.699996515712283, 0.0, 0.0, 0.6650454998016357, 0.7070955038070679, 0.23957362029549367, -0.22250679326535439, 0.29925515300765393, -0.9961530566215515, -0.053235650062561035, -0.14479690790176392, 0.02624320052564144, 0.004041551182174789, -0.03992614381633839], "max": [3.4364511793281953, -1.2285659293266207, 0.7001285079880301, 0.0, 0.0, 0.707118034362793, 0.7468028664588928, 0.5967469938298396, 0.0065900880939753215, 0.5970466084961965, -0.9666072130203247, 0.21874070167541504, 0.06960237771272659, 0.24490076303482056, 0.04001461054418938, -0.00352542244225884], "mean": [2.9086643415659417, -3.1816264488254538, 0.7000114279575155, 0.0, 0.0, 0.6972712228056017, 0.7165767619538205, 0.4191918070539823, -0.10981117147082181, 0.4391084902804552, -0.977462514275645, 0.05742607024286438, -0.00554577633459554, 0.16444081246575742, 0.01995265122636255, -0.019021730419037656], "std": [0.6903212183684823, 1.170538382872103, 2.8915617328431548e-05, 0.0, 0.0, 0.013140087212567935, 0.012565939867427595, 0.09167825429578867, 0.056973029725722414, 0.08654457298077324, 0.009615334838668027, 0.07064544775287732, 0.06802558428157975, 0.06698526436630098, 0.015168843379443808, 0.0156344440425623], "count": [1398]}, "action": {"min": [-0.08571428571428573, -0.5071428571428571, -0.06285714285714286, 0.0, -1.0, -0.7214285714285715, -0.3857142857142857, -0.3357142857142857, -0.06285714285714286, -0.14, -0.10285714285714286, -1.0], "max": [0.8642857142857142, 0.8428571428571429, 0.05142857142857143, 0.0, 1.0, 0.4857142857142857, 0.5, 0.6428571428571428, 0.12285714285714287, 0.14857142857142858, 0.19714285714285715, 1.0], "mean": [0.07930206417330883, 0.03505518087063151, -0.0011322297159207, 0.0, -0.49356223175965663, 0.004935622317596614, -0.0036685060290210444, -0.0037400367872470848, 0.0015511955855303467, 0.0002615982015123647, -0.0008379317392192937, 0.25178826895565093], "std": [0.19357945937038576, 0.20211531146172848, 0.010657752798458518, 0.0, 0.8697104825057738, 0.14610408115371668, 0.08852336337767391, 0.14649948946744973, 0.015234184474028611, 0.020271763207106525, 0.02413959925575951, 0.9677823451666774], "count": [1398]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011444921605288982], "std": [0.10636699199676514], "count": [1398]}, "next.done": {"min": [false], "max": [true], "mean": [0.000715307582260372], "std": [0.02673566751220423], "count": [1398]}, "timestamp": {"min": [0.0], "max": [69.85], "mean": [34.925000000000004], "std": [20.178386745888947], "count": [1398]}, "frame_index": {"min": [0], "max": [1397], "mean": [698.5], "std": [403.5677349177789], "count": [1398]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [1398]}, "index": {"min": [69911], "max": [71308], "mean": [70609.5], "std": [403.5677349177789], "count": [1398]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1398]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6693564320049005]], [[0.5915934574045958]], [[0.4792111042572774]]], "std": [[[0.2325315673686978]], [[0.19469407169361094]], [[0.18901925214095447]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5334053567073416]], [[0.46219747514525206]], [[0.4160567674709313]]], "std": [[[0.24608427343638134]], [[0.22697891745391893]], [[0.21144932222923854]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5426332258486997]], [[0.4729290809849658]], [[0.4307210796086714]]], "std": [[[0.24705427394494953]], [[0.23148867331617637]], [[0.22068556932562716]]], "count": [209]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1242]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1242]}, "observation.state": {"min": [0.0738780502964152, -6.063726376548426, 0.6999946747495143, 0.0, 0.0, -0.13710787892341614, 0.9905561804771423, 0.03926012145802993, -0.24141279545529493, 0.3036709761091295, -0.9881013631820679, -0.16644686460494995, -0.2500859200954437, 9.387256795889698e-06, 0.0030937664751678608, -0.03994430280740602], "max": [3.7457544989158897, -3.0541029967753923, 0.7003126700585726, 0.0, 0.0, 0.011747787706553936, 1.0, 0.4472942619930441, 0.00826620161926872, 0.6013605978583053, 0.976782500743866, 0.3188576400279999, 0.16041898727416992, 0.2986763119697571, 0.040024753263819185, -0.002944155368122113], "mean": [1.2065371262459292, -4.500052056595301, 0.7000524762188355, 0.0, 0.0, -0.026001663347157408, 0.9984091474238225, 0.29442882627188544, -0.12700125905342857, 0.44342230130882937, -0.8950866568299691, 0.1909566426022809, -0.10874731397735601, 0.18100187245460586, 0.02080979134921999, -0.01970492486205141], "std": [1.3631833947153413, 0.7919599833289118, 8.252955907984044e-05, 0.0, 0.0, 0.049940124408139976, 0.0030137760458647223, 0.12295112367564866, 0.06521199920617983, 0.084473132413647, 0.30934695387351935, 0.09041109956056126, 0.07487453056269118, 0.09105975976261665, 0.015964138462771532, 0.01653206335063994], "count": [1242]}, "action": {"min": [-1.0, -0.942857142857143, -0.14, 0.0, -1.0, -0.6285714285714287, -0.6214285714285714, -0.40714285714285714, -0.10571428571428572, -0.08, -0.1457142857142857, -1.0], "max": [1.0, 1.0, 0.10285714285714286, 0.0, 1.0, 0.5642857142857142, 0.5214285714285715, 0.46428571428571436, 0.16857142857142857, 0.09428571428571429, 0.08285714285714285, 1.0], "mean": [0.05961007591442374, 0.03278122843340233, -0.005279503105590062, 0.0, -0.5394524959742351, -0.011605705083965938, -0.0014780308258569225, -0.007119852772026713, 0.0032137106050149525, 0.0010029905682079595, -0.0033333333333333322, 0.15942028985507245], "std": [0.2800413651148395, 0.31057795356662654, 0.029353483521437386, 0.0, 0.8420160358254268, 0.1490027256786712, 0.11744466380925055, 0.14592884467102893, 0.025976686397997197, 0.014727679918471162, 0.020631602430027856, 0.9872108038218179], "count": [1242]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012882447801530361], "std": [0.11276742070913315], "count": [1242]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008051529790660225], "std": [0.028363792196149016], "count": [1242]}, "timestamp": {"min": [0.0], "max": [62.05], "mean": [31.025000000000002], "std": [17.926720047645823], "count": [1242]}, "frame_index": {"min": [0], "max": [1241], "mean": [620.5], "std": [358.5344009529165], "count": [1242]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [1242]}, "index": {"min": [71309], "max": [72550], "mean": [71929.5], "std": [358.5344009529165], "count": [1242]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1242]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6336310166741103]], [[0.5974377384658106]], [[0.5272054373576015]]], "std": [[[0.2704208685312993]], [[0.2893992975980385]], [[0.29120486338868157]]], "count": [213]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.523503754580755]], [[0.45360170631440294]], [[0.4000415073336131]]], "std": [[[0.22139724673194858]], [[0.25172514497558507]], [[0.2697656326981226]]], "count": [213]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5214027832503215]], [[0.45048003759895977]], [[0.3995006298257272]]], "std": [[[0.21503246486646257]], [[0.24586534106830216]], [[0.2656139279662547]]], "count": [213]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1276]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1276]}, "observation.state": {"min": [0.7863474169593465, -4.276341541226853, 0.6999958605605109, 0.0, 0.0, 0.6129708290100098, 0.06305274367332458, 0.13705764298606926, -0.1847168667216108, 0.29582804874793944, -0.9928594827651978, -0.1297816038131714, -0.23336666822433472, 0.0001931954175233841, 0.0053407455062268825, -0.04005612342636426], "max": [4.856920362231792, -1.5108200126639686, 0.700306987471656, 0.0, 0.0, 0.9980102181434631, 0.7901055216789246, 0.6172710185595753, 0.09843498304100362, 0.5855040925214905, 0.9928385615348816, 0.037489503622055054, 0.13629236817359924, 0.44427064061164856, 0.04002795473793868, -0.0048342329080364715], "mean": [3.1364339220594677, -3.393504812354553, 0.7000854998614032, 0.0, 0.0, 0.7591633284260113, 0.5861601175968083, 0.46110155372093053, -0.024298891154046758, 0.4008415009926539, -0.7443915448592374, -0.02289158508158216, -0.10628047755402645, 0.22572098220952166, 0.021117062379072862, -0.019770282419289985], "std": [1.427089843659433, 1.0668335123560537, 9.609985083507383e-05, 0.0, 0.0, 0.12404481483800164, 0.25436241841143664, 0.1185528079912215, 0.09076392308206761, 0.06360207473783021, 0.5904134257602676, 0.030348667071328744, 0.08654902865186721, 0.1615918022527915, 0.014604141185867078, 0.01537080506521064], "count": [1276]}, "action": {"min": [-0.9285714285714287, -0.9214285714285714, -0.1142857142857143, 0.0, -1.0, -0.7000000000000001, -0.45714285714285713, -0.40714285714285714, -0.1457142857142857, -0.17714285714285713, -0.05714285714285715, -1.0], "max": [1.0, 1.0, 0.7, 0.0, 1.0, 0.30714285714285716, 0.4785714285714286, 0.5, 0.11714285714285716, 0.17714285714285713, 0.09142857142857143, 1.0], "mean": [0.06511979399910434, 0.05752351097178677, 0.01846842812360054, 0.0, -0.4780564263322884, -0.008447156291983865, 0.006751007613076564, -0.009051724137931016, 0.001813703537841468, -0.0018987908643081051, 0.0006941334527541422, 0.2304075235109718], "std": [0.2615026667632893, 0.31306379479941426, 0.10735600061226593, 0.0, 0.8783291258078659, 0.1303630785540373, 0.11156463093160196, 0.1247510268703379, 0.025351450077438855, 0.033462313635294914, 0.013203206166065516, 0.9730942262235172], "count": [1276]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012539184652268887], "std": [0.11127422749996185], "count": [1276]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007836990595611285], "std": [0.027983653716860696], "count": [1276]}, "timestamp": {"min": [0.0], "max": [63.75], "mean": [31.875], "std": [18.417467931287405], "count": [1276]}, "frame_index": {"min": [0], "max": [1275], "mean": [637.5], "std": [368.3493586257481], "count": [1276]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [1276]}, "index": {"min": [72551], "max": [73826], "mean": [73188.5], "std": [368.3493586257481], "count": [1276]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1276]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6039986766061063]], [[0.5001179718165006]], [[0.4546697106541609]]], "std": [[[0.18117349580525616]], [[0.25458015061728134]], [[0.27668100117950384]]], "count": [207]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4969965363921931]], [[0.4186122656162122]], [[0.381085960718451]]], "std": [[[0.20256995095845667]], [[0.25097252625323907]], [[0.275567281347275]]], "count": [207]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4982380930510414]], [[0.42534615842864926]], [[0.3919627967336542]]], "std": [[[0.2021180623916097]], [[0.25075345347898437]], [[0.2753981423250707]]], "count": [207]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1229]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1229]}, "observation.state": {"min": [-0.7820749090033445, -4.416780149714889, 0.6999961218181388, 0.0, 0.0, -0.0013466746313497424, 0.9997604489326477, 0.15611036465802774, -0.25142570215600357, 0.26492376295822684, -0.9918713569641113, -0.31544679403305054, -0.22204923629760742, 0.0005376660265028477, 0.004784996583101909, -0.040006588996033335], "max": [2.222460096836321, -1.7080950956878864, 0.7001815661196722, 0.0, 0.0, 0.02188790589570999, 1.0, 0.5704794782438493, 0.15747574243067763, 0.5996651875743472, 0.9874515533447266, 0.3045484125614166, 0.21312643587589264, 0.20282073318958282, 0.04001725108347326, -0.00346170869713973], "mean": [-0.12870813902342843, -3.6043450669658075, 0.700059313127497, 0.0, 0.0, 0.005497980316155398, 0.9999400003350198, 0.350701778112211, -0.08031619245326159, 0.42218492110357025, -0.5166673905680682, 0.06873803923438486, 0.0308853923180671, 0.10105771569418058, 0.023476661824253647, -0.02296566923093508], "std": [1.108285891669419, 1.2027404175656216, 6.570966264147616e-05, 0.0, 0.0, 0.009476235113216205, 0.00010266524259352851, 0.11866909775079781, 0.14158171270485403, 0.08562172430308447, 0.8216040470064583, 0.15248707180346738, 0.12626855336108686, 0.05416691802435995, 0.014407662008808577, 0.014674924643952862], "count": [1229]}, "action": {"min": [-0.5142857142857143, -0.05714285714285714, 0.0, 0.0, -1.0, -0.6571428571428571, -0.45714285714285713, -0.36428571428571427, -0.08285714285714285, -0.12, -0.2914285714285714, -1.0], "max": [0.9, 1.0, 0.1142857142857143, 0.0, 1.0, 0.5142857142857143, 0.5785714285714286, 0.5285714285714286, 0.15428571428571428, 0.14857142857142858, 0.07428571428571429, 1.0], "mean": [0.06978379635011044, 0.06852260839242126, 0.0010135999070091828, 0.0, -0.5720097640358015, -0.004922701383238367, -0.013977682203882357, -0.004882017900732274, 0.0016715099383935843, 0.0009996512844356621, -0.0029338602812972125, 0.11635475996745322], "std": [0.23036606525339726, 0.2215492374990283, 0.009335656307837484, 0.0, 0.8202468103246107, 0.15552692581065822, 0.11882874275693503, 0.14413958179080055, 0.02609039070677309, 0.02553524304558071, 0.046558384063188935, 0.9932077173647709], "count": [1229]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013018714264035225], "std": [0.11335443705320358], "count": [1229]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008136696501220504], "std": [0.028513287986875885], "count": [1229]}, "timestamp": {"min": [0.0], "max": [61.4], "mean": [30.700000000000003], "std": [17.739081148695387], "count": [1229]}, "frame_index": {"min": [0], "max": [1228], "mean": [614.0], "std": [354.7816229739077], "count": [1229]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [1229]}, "index": {"min": [73827], "max": [75055], "mean": [74441.0], "std": [354.7816229739077], "count": [1229]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1229]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.03529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6206991623689406]], [[0.5511267452198436]], [[0.4630510178110958]]], "std": [[[0.23786350276409796]], [[0.23259238757844714]], [[0.23124650406335676]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6435053544054883]], [[0.5295398763685705]], [[0.4789112714381]]], "std": [[[0.1861500110402705]], [[0.23958620881663215]], [[0.23568051137587323]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6509074607965474]], [[0.5400311385676232]], [[0.49329900305255564]]], "std": [[[0.1857848494913975]], [[0.2421549100726408]], [[0.2397191733840148]]], "count": [180]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1018]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1018]}, "observation.state": {"min": [0.28562593619160787, -3.5414226413886176, 0.69999731186513, 0.0, 0.0, -0.0614578053355217, 0.9981096982955933, 0.058512313806326155, -0.1390602041185609, 0.2579036043445182, -0.9982450008392334, -0.1237214058637619, -0.18474873900413513, 1.0541548363107722e-05, 0.0031847172564412785, -0.03999997245598745], "max": [3.736222659758087, -1.7388257427375655, 0.7001597711818034, 0.0, 0.0, 9.600053999747615e-06, 1.0, 0.619381303734617, 0.07422420650858363, 0.6025965249964588, 0.9940153360366821, 0.1222347617149353, 0.16277511417865753, 0.3611537516117096, 0.04002227655168609, -0.003266345166699188], "mean": [1.265340961867541, -2.9159559119801695, 0.7000250434313234, 0.0, 0.0, -0.01787483853647852, 0.9995136470597947, 0.4146434496949653, -0.05921921343306508, 0.41996399071805096, -0.9362483716081308, -0.00849562146003799, -0.0452461217816986, 0.16638976963307625, 0.019895419744429828, -0.019058208082753412], "std": [1.4492352829966382, 0.8275293883670802, 4.28059948937391e-05, 0.0, 0.0, 0.025541645892033577, 0.0007799086061742887, 0.14784682902667526, 0.05603195820783538, 0.09888908505569127, 0.25924757358026346, 0.028038630525561294, 0.07523213343048252, 0.14134604507592866, 0.016767695102023566, 0.017292639100033737], "count": [1018]}, "action": {"min": [-0.40714285714285714, 0.0, -0.037142857142857144, 0.0, -1.0, -0.7285714285714285, -0.5571428571428572, -0.32857142857142857, -0.05428571428571429, -0.06857142857142857, -0.06285714285714286, -1.0], "max": [1.0, 0.8500000000000001, 0.0, 0.0, 1.0, 0.5142857142857143, 0.45, 0.5714285714285715, 0.16285714285714287, 0.13142857142857142, 0.2, 1.0], "mean": [0.094056974459725, 0.0629034521470671, -0.0032641032837496496, 0.0, -0.5972495088408645, -0.014187482458602288, 0.00011928150435024517, -0.007304238001683988, 0.0035728318832444596, 0.003348301992702779, -0.0018186921133875953, 0.14734774066797643], "std": [0.2783534949995646, 0.19197687868154614, 0.00892090740770146, 0.0, 0.8020554994446072, 0.19734589309349668, 0.1127592229552587, 0.1748340986424417, 0.024079896673273152, 0.013588638954655001, 0.021481834940665176, 0.989084750322265], "count": [1018]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015717092901468277], "std": [0.12437871843576431], "count": [1018]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009823182711198428], "std": [0.03132655936955201], "count": [1018]}, "timestamp": {"min": [0.0], "max": [50.85], "mean": [25.424999999999997], "std": [14.693557261602788], "count": [1018]}, "frame_index": {"min": [0], "max": [1017], "mean": [508.5], "std": [293.87114523205577], "count": [1018]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [1018]}, "index": {"min": [75056], "max": [76073], "mean": [75564.5], "std": [293.87114523205577], "count": [1018]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1018]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42308219991193813]], [[0.3994528323934464]], [[0.3450644049756766]]], "std": [[[0.28698647744994193]], [[0.28033778652916014]], [[0.27720999055357864]]], "count": [189]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5301707918681796]], [[0.4230918076142494]], [[0.38860305262151157]]], "std": [[[0.28518571029193807]], [[0.31522194881733395]], [[0.297735847131927]]], "count": [189]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5268294599469562]], [[0.42557158451850063]], [[0.3911765139631518]]], "std": [[[0.2923391117109881]], [[0.3192482810344125]], [[0.3039841539742746]]], "count": [189]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1088]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1088]}, "observation.state": {"min": [0.7632781554763601, -3.417481660196321, 0.6999947418218757, 0.0, 0.0, 0.6556767225265503, 0.7066712975502014, 0.12015580214606936, -0.19720156408424128, 0.31386368635043926, -0.9993658661842346, -0.1529085785150528, -0.2526392340660095, 0.0002626767964102328, 0.0018208648546685082, -0.04000672232377701], "max": [3.6798742057334297, -0.8395019779722124, 0.7002850729773026, 0.0, 0.0, 0.7075420618057251, 0.7550417184829712, 0.7505656306380595, 0.30866982702469103, 0.6222505542735904, 0.9996509552001953, 0.35237717628479004, 0.14467060565948486, 0.29412540793418884, 0.04005694605172267, -0.003001310865039123], "mean": [2.4441792620659903, -2.630621159372329, 0.7000779525831381, 0.0, 0.0, 0.7017190428450704, 0.7122906414134538, 0.41313880957423443, 0.017532831525948915, 0.5441635792255222, -0.7179121921277222, 0.08712935416534652, -0.032595075152387076, 0.15094917269711647, 0.021510555574948666, -0.020720448876623603], "std": [0.7848645258295467, 1.107557408364515, 9.991687627512863e-05, 0.0, 0.0, 0.01107362458463056, 0.010478454461187873, 0.23797676678673155, 0.16552684832879658, 0.0771415770347339, 0.646708723995467, 0.12568794848815315, 0.08200803836684478, 0.1113890310269108, 0.014836433469758895, 0.015278687228901926], "count": [1088]}, "action": {"min": [-0.16428571428571428, -1.0, -0.09714285714285714, 0.0, -1.0, -1.0, -0.5571428571428572, -0.44285714285714284, -0.12, -0.13428571428571429, -0.22, -1.0], "max": [1.0, 1.0, 0.08, 0.0, 1.0, 0.5285714285714286, 0.5071428571428571, 0.6214285714285714, 0.21142857142857144, 0.21714285714285717, 0.09714285714285714, 1.0], "mean": [0.07973345588235292, -0.03119091386554621, -0.0005225840336134447, 0.0, -0.49264705882352944, 0.005856092436974829, 0.0024947478991596585, 0.018428308823529443, -0.003227415966386555, 0.012155987394957957, -0.006018907563025208, 0.1948529411764706], "std": [0.22994538114294624, 0.3216867453149417, 0.01951363184793135, 0.0, 0.8702292085608978, 0.24034151590310712, 0.13906287378582646, 0.15624310356907337, 0.037946494268066, 0.04753690651123264, 0.03898390874070085, 0.9808324685260488], "count": [1088]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014705882407724857], "std": [0.12037283182144165], "count": [1088]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009191176470588235], "std": [0.030303017503372307], "count": [1088]}, "timestamp": {"min": [0.0], "max": [54.35], "mean": [27.175], "std": [15.703920688796156], "count": [1088]}, "frame_index": {"min": [0], "max": [1087], "mean": [543.5], "std": [314.07841377592314], "count": [1088]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [1088]}, "index": {"min": [76074], "max": [77161], "mean": [76617.5], "std": [314.07841377592314], "count": [1088]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1088]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6717281949526105]], [[0.6659280909504226]], [[0.6158177999014108]]], "std": [[[0.19035225708647352]], [[0.20715524015825426]], [[0.24760364529070789]]], "count": [195]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6533314366098503]], [[0.6059675652612807]], [[0.5651667999681844]]], "std": [[[0.19989547517876452]], [[0.20951759745342385]], [[0.23207035406690302]]], "count": [195]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6410881267258005]], [[0.5949366019945639]], [[0.5562719527101205]]], "std": [[[0.21270656439249364]], [[0.2204392342829723]], [[0.24015876255684715]]], "count": [195]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1135]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1135]}, "observation.state": {"min": [0.7804845552992081, -4.349737727157704, 0.6999965923147925, 0.0, 0.0, 0.641724169254303, 0.7070425152778625, 0.2526926233500446, -0.16292759672009094, 0.25292023621615545, -0.9953364133834839, -0.008363112807273865, -0.3130759000778198, 0.023840870708227158, 0.004793162216220084, -0.039872522938553395], "max": [2.9780059210939385, -1.2006359826332749, 0.7006909983432593, 0.0, 0.0, 0.7071711421012878, 0.7669355869293213, 0.7433109256381664, 0.0303224118579406, 0.5703000874456979, -0.8588442206382751, 0.1388428807258606, -0.015545516274869442, 0.4702295660972595, 0.040033653868393644, -0.004479603123350807], "mean": [2.1848041512711296, -3.314905228782312, 0.7000650668003685, 0.0, 0.0, 0.6874972864394671, 0.7251566835962203, 0.5103333350719856, -0.05464134112392781, 0.38918519246189986, -0.93977563349686, 0.04930714457439431, -0.11947013630330694, 0.2430753491638384, 0.022105523275202682, -0.021013896421520267], "std": [0.5375745519662618, 1.2550169014121184, 0.00016560066289412063, 0.0, 0.0, 0.028482679726302817, 0.026152587720287397, 0.09363359847022736, 0.06502989131960141, 0.0754281229126037, 0.045484917471988934, 0.04550056147397048, 0.07273442004044829, 0.1777705058988888, 0.015243915497600765, 0.015834542305478937], "count": [1135]}, "action": {"min": [-0.9285714285714287, -0.807142857142857, -0.17142857142857143, 0.0, -1.0, -0.7285714285714285, -0.37142857142857144, -0.4285714285714286, -0.19714285714285715, -0.13142857142857142, -0.045714285714285714, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.5857142857142857, 0.4357142857142858, 0.4714285714285715, 0.19428571428571428, 0.19714285714285715, 0.09142857142857143, 1.0], "mean": [0.09033354310887345, -0.004764002517306472, -0.004289490245437383, 0.0, -0.5788546255506608, 0.012781623662680899, 0.0008621774701069804, -0.013159219634990603, 0.0030031466331025838, -0.0012259282567652632, 0.001485210824417873, 0.13480176211453745], "std": [0.2789479894361839, 0.2705173428608822, 0.01957082413615959, 0.0, 0.8154307588499518, 0.1748562134060624, 0.0918626768096671, 0.15014583848735208, 0.03519141846585792, 0.028928174394233872, 0.012088351059541515, 0.9908725876371904], "count": [1135]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014096916653215885], "std": [0.11789059638977051], "count": [1135]}, "next.done": {"min": [false], "max": [true], "mean": [0.000881057268722467], "std": [0.029669529939176625], "count": [1135]}, "timestamp": {"min": [0.0], "max": [56.7], "mean": [28.35], "std": [16.382307529771257], "count": [1135]}, "frame_index": {"min": [0], "max": [1134], "mean": [567.0], "std": [327.6461505954251], "count": [1135]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [1135]}, "index": {"min": [77162], "max": [78296], "mean": [77729.0], "std": [327.6461505954251], "count": [1135]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1135]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49695659785580515]], [[0.4872774985788969]], [[0.42697042944063734]]], "std": [[[0.1655441808026153]], [[0.18053695179121879]], [[0.17274509553768064]]], "count": [204]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5266902326666727]], [[0.4954744523050968]], [[0.4611929415739852]]], "std": [[[0.21175080596628032]], [[0.21648504649240954]], [[0.22208913150777299]]], "count": [204]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5364770689087618]], [[0.5000852391977394]], [[0.46163002492280614]]], "std": [[[0.21722282473506152]], [[0.22120678851858522]], [[0.22708947501198748]]], "count": [204]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1201]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1201]}, "observation.state": {"min": [1.0924105991326258, -2.083918071013511, 0.6999964421721454, 0.0, 0.0, -1.0, 6.67426220957168e-08, 0.23002037918233442, -0.27322681802110704, 0.2561785372806714, -0.989670991897583, -0.12410807609558105, -0.314220666885376, 0.00021851417841389775, 0.0038821447072571757, -0.04000868567791155], "max": [4.020004226488221, -0.9377074856103372, 0.7002850841743952, 0.0, 0.0, 1.0, 0.02783328667283058, 0.6266260051867469, 0.1324581015448203, 0.5969656155264691, 0.9957787394523621, 0.25833848118782043, 0.21531130373477936, 0.3154321312904358, 0.0400257922883508, -0.004513045158253251], "mean": [3.2481274817906933, -1.9023420906749373, 0.7000585562525932, 0.0, 0.0, -0.3372546011065563, 0.007786240481582333, 0.442433955189444, -0.11667635363758912, 0.41040269075101843, -0.20372248420508873, 0.13517989810683348, 0.016424617637026368, 0.17509574523046542, 0.0211715629646339, -0.02057633084144719], "std": [1.0648171521593024, 0.32953922805895713, 8.15266056722192e-05, 0.0, 0.0, 0.9413040686479361, 0.012057342485416313, 0.14375216195632318, 0.1604272461427666, 0.08954902875357917, 0.9346464494737904, 0.09743702072407721, 0.11900881721526728, 0.10988265697223587, 0.016273330587001974, 0.016704498287003246], "count": [1201]}, "action": {"min": [-0.6857142857142858, -0.7785714285714286, -0.15142857142857147, 0.0, -1.0, -1.0, -0.5214285714285715, -0.45, -0.06571428571428571, -0.22, -0.3342857142857143, -1.0], "max": [1.0, 0.9, 0.022857142857142857, 0.0, 1.0, 0.8142857142857143, 0.41428571428571426, 0.6071428571428572, 0.2257142857142857, 0.1742857142857143, 0.08285714285714285, 1.0], "mean": [0.07714999405257522, -0.02469965504936361, -0.002345664327346259, 0.0, -0.575353871773522, 0.0001843701677173852, -0.012043535149280344, -0.006661115736885933, 0.004077554418936596, -0.0007517544903056976, -0.00411799690733912, 0.11240632805995004], "std": [0.24696404989650136, 0.20937842045448024, 0.016441071519573785, 0.0, 0.8179045923793444, 0.21847460013599002, 0.10464793877629869, 0.15524163436355243, 0.02897113946931433, 0.03743885279184579, 0.042852631424551584, 0.9936623256479463], "count": [1201]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012489591725170612], "std": [0.11105675250291824], "count": [1201]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008326394671107411], "std": [0.028843477228457575], "count": [1201]}, "timestamp": {"min": [0.0], "max": [60.0], "mean": [30.0], "std": [17.334935823359714], "count": [1201]}, "frame_index": {"min": [0], "max": [1200], "mean": [600.0], "std": [346.69871646719434], "count": [1201]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1201]}, "index": {"min": [78297], "max": [79497], "mean": [78897.0], "std": [346.69871646719434], "count": [1201]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1201]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6804891563288946]], [[0.6158257920278143]], [[0.5209487587078664]]], "std": [[[0.22167421998885248]], [[0.17560409409370262]], [[0.1590240120510487]]], "count": [208]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5281752167783712]], [[0.4523361617443608]], [[0.4089432090655711]]], "std": [[[0.21998419091160618]], [[0.2164055607431876]], [[0.21208385386256706]]], "count": [208]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5442105021412016]], [[0.4739986212544851]], [[0.43301601467449025]]], "std": [[[0.23346681523863175]], [[0.22274722295177868]], [[0.2145252997055933]]], "count": [208]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1237]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1237]}, "observation.state": {"min": [0.9207907123218698, -4.640454925331213, 0.6999962522410818, 0.0, 0.0, 0.7068853974342346, 0.040855564177036285, 0.21759361894595441, -0.13546320755811614, 0.30366547325536375, -0.991448163986206, -0.6628283262252808, -0.3742658793926239, 0.00014169872156344354, 0.004726418075317608, -0.03998804793579757], "max": [2.7580388404567038, -4.3189455190633925, 0.700161525319582, 0.0, 0.0, 0.9991650581359863, 0.7073281407356262, 0.5124242083313155, 0.33202738193423187, 0.5845306081766392, 0.9852322936058044, 0.5216399431228638, 0.19288179278373718, 0.24827992916107178, 0.04001761058080115, -0.004967918716396216], "mean": [2.2608417215099927, -4.345712017370925, 0.7000170645711209, 0.0, 0.0, 0.7770651815490753, 0.5560398395613692, 0.42779945990941176, 0.02630279080351888, 0.41686722671944754, -0.746286323741259, 0.062467880131452436, -0.12949870241295452, 0.12342926905646541, 0.02268009255524292, -0.021967192598032082], "std": [0.7670196030868932, 0.06969304109625646, 3.720614568675358e-05, 0.0, 0.0, 0.12073030317061186, 0.269097733889716, 0.0671554758290247, 0.16747905728625564, 0.07272664319410012, 0.5719655778650037, 0.25351868527830196, 0.09289056192599078, 0.08428989023425083, 0.015380294260829375, 0.01574278184360734], "count": [1237]}, "action": {"min": [-0.95, -0.8357142857142857, 0.0, 0.0, -1.0, -0.44285714285714284, -0.41428571428571426, -0.3, -0.13714285714285715, -0.2, -0.41714285714285715, -1.0], "max": [0.9142857142857143, 0.8642857142857142, 0.4828571428571429, 0.0, 1.0, 0.35000000000000003, 0.42142857142857143, 0.44285714285714284, 0.2257142857142857, 0.23142857142857146, 0.1, 1.0], "mean": [0.013367594410440003, 0.028126804480886922, 0.024044346922277398, 0.0, -0.6443007275666937, -0.0023732532625014026, -0.003891904376948839, -0.008060977018131429, 0.004795010971243787, -0.0009100358009007958, -0.002427532047580559, 0.09620048504446241], "std": [0.13154084733080323, 0.16869013836986338, 0.08762893790868097, 0.0, 0.7647722356734913, 0.10746562673466138, 0.1141479059828082, 0.12654968199192437, 0.03452240977185481, 0.03215216593470804, 0.0684759908825538, 0.9953619777132452], "count": [1237]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012934518977999687], "std": [0.11299211531877518], "count": [1237]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008084074373484236], "std": [0.02842101185326911], "count": [1237]}, "timestamp": {"min": [0.0], "max": [61.8], "mean": [30.900000000000002], "std": [17.854551240510077], "count": [1237]}, "frame_index": {"min": [0], "max": [1236], "mean": [618.0], "std": [357.0910248102016], "count": [1237]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1237]}, "index": {"min": [79498], "max": [80734], "mean": [80116.0], "std": [357.0910248102016], "count": [1237]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1237]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08627450980392157]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6798105665691784]], [[0.6432730075594291]], [[0.5518865749139111]]], "std": [[[0.2626367523055387]], [[0.2974126420131355]], [[0.36272103992609156]]], "count": [171]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5932388016970083]], [[0.5787966635150382]], [[0.5638420963188935]]], "std": [[[0.2594441207268283]], [[0.26675650810083434]], [[0.2757236221096767]]], "count": [171]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6004603286741415]], [[0.58923034877928]], [[0.5774910878593831]]], "std": [[[0.25880934149247337]], [[0.2646295898730169]], [[0.27189666388937617]]], "count": [171]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [951]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [951]}, "observation.state": {"min": [0.8725219059917535, -4.5780731670813735, 0.6999959122767251, 0.0, 0.0, 0.6343859434127808, 0.7070808410644531, 0.09153256121209119, -0.10984819358881559, 0.3024872438228461, -0.993123471736908, -0.19432635605335236, -0.1665755808353424, 0.0001895518507808447, 0.003451228170485589, -0.03997174301271186], "max": [4.5033343512824375, -0.9857173076024, 0.7005184678013869, 0.0, 0.0, 0.7071326971054077, 0.7730165123939514, 0.6996434880281117, 0.22834753215308434, 0.5841737939477534, 0.9908484816551208, 0.13160809874534607, 0.16838380694389343, 0.36880823969841003, 0.04002002224612718, -0.0032308849800339076], "mean": [3.438722721687385, -3.7024180439701846, 0.700097575298924, 0.0, 0.0, 0.6864538897851288, 0.7259940821540343, 0.46290323872775146, 0.04851490067067146, 0.42319880551944566, -0.9170199469060928, 0.006728336880949142, -0.08143795048453811, 0.18991865815853576, 0.022285390420904546, -0.020856222898911272], "std": [1.5645221022604188, 1.467016570837045, 0.0001411812878306947, 0.0, 0.0, 0.030657828436330584, 0.02781617718705132, 0.1525791028832094, 0.0879332335216866, 0.08284959644536638, 0.2940324096194363, 0.08995708849755939, 0.053439236507568766, 0.13756751620323102, 0.01470837976979161, 0.015520808197642096], "count": [951]}, "action": {"min": [-0.18571428571428572, 0.0, -0.12, 0.0, -1.0, -0.9714285714285714, -0.5642857142857142, -0.42142857142857143, -0.10285714285714286, -0.07714285714285714, -0.23714285714285716, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.55, 0.6285714285714287, 0.7928571428571428, 0.18, 0.11142857142857143, 0.2, 1.0], "mean": [0.10337238996544991, 0.13412948775724803, -0.005446898002103048, 0.0, -0.629863301787592, -0.012843623253717847, 0.020745080366531513, -0.0023358870362024937, 0.003614240648940965, 0.002262280306444344, -0.00146913023884633, 0.16298633017875921], "std": [0.29350821895151824, 0.31446372192297445, 0.019002049486815286, 0.0, 0.7767060068399347, 0.22681715128729912, 0.13283540236445132, 0.18533131140455872, 0.02907875024751798, 0.01565491290270445, 0.04709711487160553, 0.9866283272716521], "count": [951]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016824394464492798], "std": [0.12861314415931702], "count": [951]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010515247108307045], "std": [0.03241016825956349], "count": [951]}, "timestamp": {"min": [0.0], "max": [47.5], "mean": [23.75], "std": [13.726495061255319], "count": [951]}, "frame_index": {"min": [0], "max": [950], "mean": [475.0], "std": [274.5299012251064], "count": [951]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [951]}, "index": {"min": [80735], "max": [81685], "mean": [81210.0], "std": [274.5299012251064], "count": [951]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [951]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4867232899234487]], [[0.4072673712752564]], [[0.3175812381047318]]], "std": [[[0.13090214850240445]], [[0.18612775726712633]], [[0.16850853364164473]]], "count": [238]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.07450980392156863]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.549505309254044]], [[0.45496113868772464]], [[0.391855967168577]]], "std": [[[0.19194659749556306]], [[0.21084038031671432]], [[0.22062508595279615]]], "count": [238]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.07450980392156863]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.573823275827737]], [[0.4710304688928076]], [[0.4041239360231685]]], "std": [[[0.19590317618218792]], [[0.22023931152204151]], [[0.23251067515261337]]], "count": [238]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1481]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1481]}, "observation.state": {"min": [2.815289055399225, -3.6914438000518732, 0.6999978340408528, 0.0, 0.0, 0.6697514653205872, 0.7068610787391663, 0.1451518177733387, -0.19428695399394247, 0.2680962813884811, -0.9912464022636414, -0.008501619100570679, -0.1947777271270752, 0.019395004957914352, 0.0031095302525032164, -0.03994582708010956], "max": [5.581366580173928, -0.8866493763741443, 0.7011335754887651, 0.0, 0.0, 0.7073523998260498, 0.7425853610038757, 0.6450448667815487, 0.03675074001977929, 0.5900807387194034, -0.8438035249710083, 0.27597641944885254, 0.07719597965478897, 0.5236795544624329, 0.040034189095369765, -0.0032923696000398826], "mean": [4.062520094876653, -2.9966503202966677, 0.7000776793228961, 0.0, 0.0, 0.6978844147449728, 0.7159174954786565, 0.43948891224590747, -0.07183027489423938, 0.4154337208657503, -0.9262670946636368, 0.0645421937983395, -0.07917467758116019, 0.2767330105243544, 0.02201787536793008, -0.020848327262073155], "std": [0.6997139138546312, 1.1326561959442312, 0.0002469134987804541, 0.0, 0.0, 0.014837629732527807, 0.014118591591455861, 0.1718555249129093, 0.06862310042600071, 0.08638365710263918, 0.06016771685928011, 0.07037769193623032, 0.0857374776890063, 0.1977111663160535, 0.015295486815331888, 0.015898000801770465], "count": [1481]}, "action": {"min": [-0.2142857142857143, -0.7071428571428572, -0.06, 0.0, -1.0, -0.8357142857142857, -0.37142857142857144, -0.32857142857142857, -0.10857142857142858, -0.07428571428571429, -0.08857142857142856, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.5285714285714286, 0.44285714285714284, 0.5214285714285715, 0.1142857142857143, 0.07714285714285714, 0.025714285714285714, 1.0], "mean": [0.05966046107842188, 0.027302980611555915, -0.0018462428860808338, 0.0, -0.6137744767049291, -0.005276357673386674, -0.0026960547892350938, -0.009689399054692805, 0.0036616185974727507, 0.000804475740329892, -0.0013407929005498206, 0.14922349763673193], "std": [0.2059682885262157, 0.2604666787849919, 0.007597692352029832, 0.0, 0.7894814068396986, 0.17405169256804365, 0.09223642749161025, 0.1199110171271966, 0.024239293893737537, 0.014573088488893165, 0.009167364943669693, 0.9888034929919269], "count": [1481]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01080351136624813], "std": [0.10337696224451065], "count": [1481]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006752194463200541], "std": [0.02597621075175063], "count": [1481]}, "timestamp": {"min": [0.0], "max": [74.0], "mean": [37.0], "std": [21.376388843768723], "count": [1481]}, "frame_index": {"min": [0], "max": [1480], "mean": [740.0], "std": [427.5277768753745], "count": [1481]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [1481]}, "index": {"min": [81686], "max": [83166], "mean": [82426.0], "std": [427.5277768753745], "count": [1481]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1481]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7097814065530058]], [[0.6609233386864362]], [[0.5675100289139093]]], "std": [[[0.19263119818113889]], [[0.18572997675421893]], [[0.22921384266414954]]], "count": [182]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5927753973716139]], [[0.5014460988816349]], [[0.4432491092891484]]], "std": [[[0.18547888129025777]], [[0.21578836566597326]], [[0.23963482311896467]]], "count": [182]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5860407294396874]], [[0.49702878860378286]], [[0.4396268979816235]]], "std": [[[0.20619675196011325]], [[0.235651181746561]], [[0.254218575483897]]], "count": [182]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1032]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1032]}, "observation.state": {"min": [0.6289548173590036, -4.624436467531023, 0.6999955262294073, 0.0, 0.0, 0.705894947052002, 0.682197630405426, 0.17394243117115626, -0.17616993105002754, 0.30358070910861934, -0.9913296699523926, -0.2549591064453125, -0.26682496070861816, 0.02996646985411644, 0.002165330896137014, -0.040058199769516814], "max": [2.2981472802794283, -0.8957852254954015, 0.7002150615084557, 0.0, 0.0, 0.7311677932739258, 0.7083165645599365, 0.7446221067353695, 0.11319466867757022, 0.5988115174688352, -0.9205830693244934, 0.13394257426261902, -0.058244477957487106, 0.27847397327423096, 0.04002077125860429, -0.0029530817134633004], "mean": [2.003838868579163, -3.6047054482880405, 0.7000606452870687, 0.0, 0.0, 0.7115095568488735, 0.7025519648148107, 0.4614199765232077, -0.050113587111461584, 0.45080424849207007, -0.9658144255017125, -0.060551197174214574, -0.14141775034151452, 0.14774925573801173, 0.023211258145707278, -0.02255083457779173], "std": [0.5124813848068446, 1.3794383775404133, 6.310888041294224e-05, 0.0, 0.0, 0.009190620447482565, 0.00950796672395042, 0.1463884757404607, 0.07353884823458165, 0.08484104501763927, 0.017030160920555103, 0.10284451339423221, 0.04371193330109972, 0.09449588717156751, 0.015459590967394127, 0.01581055238184677], "count": [1032]}, "action": {"min": [-0.8857142857142857, -1.0, 0.0, 0.0, -1.0, -0.8785714285714286, -0.5071428571428571, -0.46428571428571436, -0.07714285714285714, -0.13428571428571429, -0.22285714285714286, -1.0], "max": [1.0, 1.0, 0.08857142857142856, 0.0, 1.0, 0.5071428571428571, 0.5142857142857143, 0.6642857142857144, 0.11714285714285716, 0.2857142857142857, 0.23428571428571432, 1.0], "mean": [0.09005398671096346, 0.01607142857142854, 0.0018853820598006652, 0.0, -0.5891472868217055, -0.005654761904761899, -0.006395348837209309, -0.0050110741971207, 0.002547065337763012, -0.00026024363233665825, -0.0019075304540420832, 0.060077519379844964], "std": [0.3038813528566556, 0.266534710791367, 0.010744188315112336, 0.0, 0.8080256644628475, 0.21205397092499856, 0.12229324930939747, 0.18079212721931345, 0.019913562017694612, 0.036574084333996074, 0.05281245297557818, 0.9981937144989309], "count": [1032]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014534884132444859], "std": [0.11968132853507996], "count": [1032]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009689922480620155], "std": [0.031113554957368842], "count": [1032]}, "timestamp": {"min": [0.0], "max": [51.55], "mean": [25.775], "std": [14.895629951991513], "count": [1032]}, "frame_index": {"min": [0], "max": [1031], "mean": [515.5], "std": [297.91259903983024], "count": [1032]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [1032]}, "index": {"min": [83167], "max": [84198], "mean": [83682.5], "std": [297.91259903983024], "count": [1032]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1032]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7219535237671655]], [[0.7113516274984781]], [[0.6402691799598035]]], "std": [[[0.22926193052483715]], [[0.2383918912255836]], [[0.2994792124015917]]], "count": [231]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5469965504179299]], [[0.5159813808631881]], [[0.4948418526827161]]], "std": [[[0.2415704349793388]], [[0.25672522533264813]], [[0.27111380691701553]]], "count": [231]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5340928871252574]], [[0.4994786628326165]], [[0.4797476360261789]]], "std": [[[0.2598399633388045]], [[0.2737674082025451]], [[0.28815962212483864]]], "count": [231]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1419]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1419]}, "observation.state": {"min": [0.8736660452328986, -2.7148360224056356, 0.6999971761666497, 0.0, 0.0, -0.0952521488070488, 0.9954532384872437, 0.16394599850524916, -0.05771792710371404, 0.29270650128799514, -0.9976783394813538, -0.19263508915901184, -0.14649654924869537, 0.0006682967068627477, 0.002451298724108062, -0.04000250689559656], "max": [3.863924827980705, -1.1680012764369592, 0.700183597550211, 0.0, 0.0, 0.00011431626626290381, 1.0, 0.5426710585479582, 0.2886473989491063, 0.5980817698247599, 0.9920322299003601, 0.10293206572532654, 0.1508086770772934, 0.5165176391601562, 0.04003234316187332, -0.002708542001446491], "mean": [1.7775759326885405, -2.35575997129083, 0.7000161568003862, 0.0, 0.0, -0.023861792272539827, 0.9988958515946171, 0.40570812364729897, 0.06419869110400715, 0.43356497878975225, -0.7002978571457624, -0.02724007888315764, -0.004974065578106277, 0.2178149428419602, 0.023057197424910043, -0.02209428277215603], "std": [0.9886962837629945, 0.6176958387745914, 4.1448831415414976e-05, 0.0, 0.0, 0.040423446967730974, 0.0019090394947983986, 0.12509447451026875, 0.09648531254463615, 0.09138217311764336, 0.6389043798185312, 0.08161532366226461, 0.07602263405813449, 0.20182539182558754, 0.016653044746746823, 0.01728632136770534], "count": [1419]}, "action": {"min": [-1.0, -0.05714285714285714, -0.1142857142857143, 0.0, -1.0, -0.5928571428571429, -0.41428571428571426, -0.3214285714285714, -0.09142857142857143, -0.14857142857142858, -0.18285714285714286, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.37142857142857144, 0.3785714285714286, 0.44285714285714284, 0.11714285714285716, 0.1, 0.07142857142857142, 1.0], "mean": [0.05267290848686198, 0.05728883519581192, -0.0036705929729185533, 0.0, -0.6871035940803383, -0.0035336756266988517, 0.010057384475989166, -0.004701500050337289, 0.003640390617134801, -0.00033826638477801147, 0.0014054162891372205, -0.0021141649048625794], "std": [0.2185305837990202, 0.17915754082380572, 0.01752993944568239, 0.0, 0.7265594614358005, 0.11694724872855967, 0.09481850622368589, 0.11546650899893296, 0.023234868579445653, 0.020963558782646947, 0.019513676601911317, 0.9999977651508686], "count": [1419]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011275545693933964], "std": [0.10558602958917618], "count": [1419]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007047216349541931], "std": [0.02653723803208278], "count": [1419]}, "timestamp": {"min": [0.0], "max": [70.9], "mean": [35.45], "std": [20.48149571361102], "count": [1419]}, "frame_index": {"min": [0], "max": [1418], "mean": [709.0], "std": [409.62991427222045], "count": [1419]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [1419]}, "index": {"min": [84199], "max": [85617], "mean": [84908.0], "std": [409.62991427222045], "count": [1419]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1419]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6312064893957928]], [[0.5305240716461217]], [[0.4720261630329981]]], "std": [[[0.15740148570218207]], [[0.22370579651982447]], [[0.26672441832591465]]], "count": [170]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.548389488844998]], [[0.5367740223674488]], [[0.5217237517852958]]], "std": [[[0.2319369366864896]], [[0.2191999994191612]], [[0.21058622211608213]]], "count": [170]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5605456824561166]], [[0.5478864032256975]], [[0.5314177189071286]]], "std": [[[0.23325988599789999]], [[0.21982191197241696]], [[0.21264454873068314]]], "count": [170]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [944]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [944]}, "observation.state": {"min": [2.7876364538376004, -6.385544531200873, 0.6999957282858741, 0.0, 0.0, 0.6896292567253113, 0.7041987180709839, 0.16338385373280628, -0.38485750966416576, 0.2787099834569706, -0.994263231754303, -0.06166674196720123, -0.21850642561912537, 2.522335125831887e-05, 0.0027078211660053874, -0.04003319835715911], "max": [4.197796723435068, -3.746144812321663, 0.7001690459809236, 0.0, 0.0, 0.7100029587745667, 0.7241626381874084, 0.48670705550396676, -0.011657283718020661, 0.7340656897775177, 0.9938064813613892, 0.38332346081733704, 0.158042773604393, 0.41927239298820496, 0.040025394622259534, -0.002401825368690284], "mean": [3.0231262769792724, -5.559913251389875, 0.7000371493034633, 0.0, 0.0, 0.7026681100034108, 0.7114359624683857, 0.3503988638781625, -0.22107587978020726, 0.6083740724633765, -0.7403824612877127, 0.1255330961608028, -0.05664438196426846, 0.220526368086389, 0.021124679259316617, -0.019744576728641824], "std": [0.4376608587848009, 1.1837254743985626, 6.083984996984994e-05, 0.0, 0.0, 0.007714127005883569, 0.0075411400491715835, 0.09857121075024147, 0.0822208569313709, 0.10638895487632942, 0.5832258808078516, 0.08500980747360583, 0.08475088465524408, 0.1722584661419381, 0.014772692883801737, 0.015540020830535819], "count": [944]}, "action": {"min": [-0.14285714285714288, -1.0, -0.08571428571428572, 0.0, -1.0, -1.0, -0.6785714285714286, -0.37142857142857144, -0.1657142857142857, -0.24285714285714288, -0.13142857142857142, -1.0], "max": [1.0, 0.9142857142857143, 0.0, 0.0, 1.0, 0.6, 0.6428571428571428, 0.8785714285714286, 0.37714285714285717, 0.11714285714285716, 0.19714285714285715, 1.0], "mean": [0.08554782082324455, -0.01682808716707021, -0.0015193704600484264, 0.0, -0.5635593220338984, -0.0073471549636803845, -0.006424031476997576, 7.566585956417896e-05, 0.0021549636803874102, -0.006013922518159806, -0.003129539951573854, 0.21610169491525424], "std": [0.25623721160099344, 0.26477243223461805, 0.00915915174132565, 0.0, 0.826075596146441, 0.21789314042819033, 0.1840710970769511, 0.20445677107316915, 0.0499145744695165, 0.03251833657546075, 0.02902953259123626, 0.976370860613302], "count": [944]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016949152573943138], "std": [0.1290809065103531], "count": [944]}, "next.done": {"min": [false], "max": [true], "mean": [0.001059322033898305], "std": [0.032529984179627304], "count": [944]}, "timestamp": {"min": [0.0], "max": [47.15], "mean": [23.575], "std": [13.625458707874754], "count": [944]}, "frame_index": {"min": [0], "max": [943], "mean": [471.5], "std": [272.5091741574951], "count": [944]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [944]}, "index": {"min": [85618], "max": [86561], "mean": [86089.5], "std": [272.5091741574951], "count": [944]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [944]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7310212708967234]], [[0.7221338488043749]], [[0.6502708143105166]]], "std": [[[0.24011084303331653]], [[0.24233250598589293]], [[0.29080207841050254]]], "count": [248]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.543718144503068]], [[0.5224696034498414]], [[0.5104709190933256]]], "std": [[[0.2587373447330641]], [[0.2675058140414321]], [[0.2751334392911116]]], "count": [248]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5433938616970383]], [[0.5195036181764163]], [[0.5069673790349605]]], "std": [[[0.26035478846122945]], [[0.27155935202118964]], [[0.28117408468986926]]], "count": [248]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1564]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1564]}, "observation.state": {"min": [0.8418156287958923, -3.256315763141988, 0.699996075626835, 0.0, 0.0, -0.02085564099252224, 0.6461982131004333, 0.2303553177654898, -0.30698175057862276, 0.2892369589706173, -0.998102605342865, -0.11779330670833588, -0.12847670912742615, 5.525038068299182e-05, 0.0033446371630582576, -0.04000546870161659], "max": [3.475915609042943, -0.7726049376739399, 0.7001868653755531, 0.0, 0.0, 0.7631696462631226, 1.0, 0.6134961718524246, 0.015383218949842181, 0.588327019448585, 0.9982666373252869, 0.12606306374073029, 0.13333629071712494, 0.43675360083580017, 0.04002010425347166, -0.0032078435151998512], "mean": [1.670660796219258, -2.612856730646034, 0.700023737452803, 0.0, 0.0, 0.1318893008644895, 0.9425469944849039, 0.48067542755235165, -0.11292874482858246, 0.42976413463077084, -0.40485669691544357, -0.0007855369044882257, -0.011497691320220042, 0.1821792871327084, 0.01997571361028807, -0.018782341665368702], "std": [0.8360208937026918, 1.022907091328605, 4.634075780863591e-05, 0.0, 0.0, 0.2797236896096055, 0.1263528917638051, 0.07899116243177727, 0.09113252766679737, 0.08291973543228218, 0.8715772028586328, 0.0779785537912498, 0.06376294363666583, 0.1815923008616922, 0.016134492627762596, 0.016920623333009623], "count": [1564]}, "action": {"min": [-1.0, -0.36428571428571427, -0.08285714285714285, 0.0, -1.0, -0.8214285714285715, -0.6142857142857143, -0.4857142857142857, -0.1742857142857143, -0.1657142857142857, -0.17142857142857143, -1.0], "max": [1.0, 0.9928571428571428, 0.7171428571428572, 0.0, 1.0, 0.41428571428571426, 0.40714285714285714, 0.6500000000000001, 0.17142857142857143, 0.18, 0.10285714285714286, 1.0], "mean": [0.03725794665692364, 0.06820423821702601, 0.02854950675922544, 0.0, -0.5997442455242967, -0.0011463280964559362, -0.014039093898428945, -0.005147058823529436, 0.0019638290098648137, 0.002913774205334307, -0.00021373766898063763, 0.20076726342711], "std": [0.23268015965145003, 0.19541525481146807, 0.12375001420443502, 0.0, 0.8001917519947903, 0.12298810447999237, 0.1049685192664401, 0.12119931735346617, 0.03328493959114246, 0.03072453419776384, 0.02677414778329466, 0.9796389671384175], "count": [1564]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010230178944766521], "std": [0.1006256565451622], "count": [1564]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006393861892583121], "std": [0.025278001791267], "count": [1564]}, "timestamp": {"min": [0.0], "max": [78.15], "mean": [39.075], "std": [22.57439091094154], "count": [1564]}, "frame_index": {"min": [0], "max": [1563], "mean": [781.5], "std": [451.4878182188308], "count": [1564]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1564]}, "index": {"min": [86562], "max": [88125], "mean": [87343.5], "std": [451.4878182188308], "count": [1564]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1564]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6228338538890603]], [[0.5761354771389595]], [[0.49981178449681457]]], "std": [[[0.18188576422550934]], [[0.1765841173154864]], [[0.17326024065124535]]], "count": [219]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6346483723608592]], [[0.5305205891708497]], [[0.48090957121089556]]], "std": [[[0.19194534802799273]], [[0.23830798087459054]], [[0.2318904084154022]]], "count": [219]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6459311456003188]], [[0.5361050759041488]], [[0.48841746211831083]]], "std": [[[0.1914249191619732]], [[0.24677385608962366]], [[0.24256240312712704]]], "count": [219]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1321]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1321]}, "observation.state": {"min": [1.6551406785611893, -3.991785065419675, 0.6999973965285979, 0.0, 0.0, -0.05410245805978775, 0.9985353946685791, 0.19303662579553293, -0.1627161631873295, 0.26764295483105605, -0.995559573173523, -0.042248860001564026, -0.1975928395986557, 5.54018588445615e-05, 0.003955825437680008, -0.03998322571695438], "max": [4.338229472775266, -1.2813685641190555, 0.7008971157420986, 0.0, 0.0, 4.05235005018767e-05, 1.0, 0.6292281261751087, 0.1853665878425903, 0.6106997622932843, -0.8133361339569092, 0.17164278030395508, 0.009716821834445, 0.5606800317764282, 0.040040322473236106, -0.003427554956052036], "mean": [2.279625520870763, -3.2006987411047505, 0.700096149338621, 0.0, 0.0, -0.016600926720823313, 0.999587389847079, 0.412643878466947, -0.03294608183418068, 0.42339037441691124, -0.9127528480198418, 0.06120374246044289, -0.0586160445464849, 0.30557267117016734, 0.01958849722666153, -0.01827222105816957], "std": [1.0683237812349022, 1.1409758899449305, 0.00018993895786336218, 0.0, 0.0, 0.023433106346320513, 0.0006027382988118095, 0.16407922997654506, 0.10557202359032129, 0.09635839795477118, 0.08244847460889114, 0.08010037768774293, 0.05274063616982775, 0.22434448136914115, 0.015551768345775777, 0.01623369706450471], "count": [1321]}, "action": {"min": [-0.3, 0.0, -0.06857142857142857, 0.0, -1.0, -0.6928571428571428, -0.5, -0.3357142857142857, -0.2485714285714286, -0.32285714285714284, -0.08285714285714285, -1.0], "max": [0.7785714285714286, 0.8, 0.0, 0.0, 1.0, 0.5357142857142857, 0.5214285714285715, 0.7571428571428572, 0.2057142857142857, 0.11714285714285716, 0.08285714285714285, 1.0], "mean": [0.06225262247215316, 0.09213799069968635, -0.00216070076781659, 0.0, -0.5518546555639667, -0.0022926354493349363, 0.004260841353952616, -0.009273277819833446, 0.004870768898020976, -0.0011225262247215317, 0.0008824483616307992, 0.24602573807721423], "std": [0.19097952676422308, 0.20513025037329086, 0.009393711417144361, 0.0, 0.8339403090943548, 0.16902718462090338, 0.14015834352374815, 0.15161493308932336, 0.03703537867936657, 0.032586407047675556, 0.013370253727612866, 0.9692632956031892], "count": [1321]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012112036347389221], "std": [0.10938616842031479], "count": [1321]}, "next.done": {"min": [false], "max": [true], "mean": [0.000757002271006813], "std": [0.027503258326396593], "count": [1321]}, "timestamp": {"min": [0.0], "max": [66.0], "mean": [33.0], "std": [19.066987176793297], "count": [1321]}, "frame_index": {"min": [0], "max": [1320], "mean": [660.0], "std": [381.3397435358659], "count": [1321]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1321]}, "index": {"min": [88126], "max": [89446], "mean": [88786.0], "std": [381.3397435358659], "count": [1321]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1321]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.644543957197642]], [[0.6475817850459823]], [[0.5797878246294477]]], "std": [[[0.18946552164628191]], [[0.18745351358919987]], [[0.17300979275823988]]], "count": [145]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6149114986107589]], [[0.5566714723082794]], [[0.49393994396485696]]], "std": [[[0.12594612208528747]], [[0.12970759486481379]], [[0.13851729494293344]]], "count": [145]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.632018878310012]], [[0.5670548552125592]], [[0.49839473742419915]]], "std": [[[0.12151425737181978]], [[0.12872471596398333]], [[0.14282533871395509]]], "count": [145]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [768]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [768]}, "observation.state": {"min": [0.9782791146050855, -4.198608703714382, 0.699997543071303, 0.0, 0.0, 0.7068694233894348, 0.10036361962556839, 0.15832012573830156, -0.07210876487584361, 0.2913748152277723, -0.988680362701416, -0.1504324972629547, -0.32345184683799744, 0.008621200919151306, 0.005157933840114115, -0.04001106176270454], "max": [2.905386352498422, -1.3427869902711091, 0.7003508347140113, 0.0, 0.0, 0.9949508905410767, 0.7073440551757812, 0.7774081436193194, 0.14787779936792944, 0.6049953930507395, -0.8675315380096436, 0.09968824684619904, 0.11497990787029266, 0.47028300166130066, 0.04003375337247226, -0.004015832427392819], "mean": [2.3152698931712723, -3.326385788904682, 0.7001734591139931, 0.0, 0.0, 0.7703344762170067, 0.5794951301650144, 0.5120430827239112, 0.04594698212736065, 0.44438859021532456, -0.9372499250651648, -0.05169397307327017, -0.06653730712429251, 0.2482072394535256, 0.02058835773227488, -0.019161237426391465], "std": [0.8289397939497544, 1.147223860132424, 0.00012483080293998746, 0.0, 0.0, 0.1156770827942335, 0.2395599831066096, 0.15429209938070468, 0.06680122945082533, 0.09087187574150413, 0.037972075710355026, 0.07572084343156228, 0.1331952362263061, 0.16715192533966083, 0.01579335546596188, 0.016630850735037443], "count": [768]}, "action": {"min": [-0.8214285714285715, -0.9857142857142858, -0.06857142857142857, 0.0, -1.0, -1.0, -0.4357142857142858, -0.7357142857142858, -0.08857142857142856, -0.18571428571428572, -0.1142857142857143, -1.0], "max": [1.0, 1.0, 0.6828571428571428, 0.0, 1.0, 0.6928571428571428, 0.5571428571428572, 0.7214285714285715, 0.19428571428571428, 0.13714285714285715, 0.1, 1.0], "mean": [0.09929315476190485, 0.06409970238095233, 0.03155505952380952, 0.0, -0.5703125, -0.01329055059523812, 0.01086309523809524, -0.013774181547619113, 0.008746279761904759, 0.0004985119047619045, 0.00023065476190476175, 0.16145833333333334], "std": [0.3160180879592623, 0.25465159657395847, 0.12380038720258561, 0.0, 0.8214278132275228, 0.32889437380071884, 0.12341191089997794, 0.2324067097711956, 0.034561472226098046, 0.0369127228056726, 0.031177806881149232, 0.9868795299311932], "count": [768]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02083333395421505], "std": [0.1428261399269104], "count": [768]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013020833333333333], "std": [0.036060891729495385], "count": [768]}, "timestamp": {"min": [0.0], "max": [38.35], "mean": [19.175], "std": [11.085115771459794], "count": [768]}, "frame_index": {"min": [0], "max": [767], "mean": [383.5], "std": [221.70231542919586], "count": [768]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [768]}, "index": {"min": [89447], "max": [90214], "mean": [89830.5], "std": [221.70231542919586], "count": [768]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [768]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.582025448140251]], [[0.6013049812712884]], [[0.5593489266541866]]], "std": [[[0.1740186800109901]], [[0.1580952224546973]], [[0.17089041492127502]]], "count": [170]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6059918522642282]], [[0.5896374596196474]], [[0.5582523772735772]]], "std": [[[0.23904554913283485]], [[0.22021172136302825]], [[0.2037945354262817]]], "count": [170]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6509137036808634]], [[0.6217658537234402]], [[0.5805987136999216]]], "std": [[[0.24595522147305798]], [[0.22623625901658534]], [[0.20951712361185545]]], "count": [170]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [948]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [948]}, "observation.state": {"min": [1.7162331489651632, -2.470146493718292, 0.6999954070232772, 0.0, 0.0, -0.7648257613182068, 0.6442371606826782, 0.2504974146904826, -0.21774243307085306, 0.294536722228381, -0.9904448986053467, -0.28298258781433105, -0.3495273292064667, 8.934822835726663e-05, 0.003651571819164923, -0.04000537142395138], "max": [4.285829511405579, -1.5594411357105495, 0.7002727247249795, 0.0, 0.0, -0.45609167218208313, 0.8899328112602234, 0.5829493603533658, 0.17146926189661937, 0.5844233690045039, 0.9868109822273254, 0.4204910695552826, 0.22973093390464783, 0.4462318420410156, 0.040019818972660146, -0.004414822620557618], "mean": [2.44450818163482, -1.9101432993660437, 0.7000911620522174, 0.0, 0.0, -0.6582156066087228, 0.7420724887510896, 0.4409033693779692, -0.06835733021915458, 0.4343741814719883, -0.42685730390659365, 0.10054277600366858, -0.061796645810709726, 0.19451109694212695, 0.020069270418979615, -0.019036192602310178], "std": [1.087119962238992, 0.2908777997671252, 0.00010098937223862482, 0.0, 0.0, 0.10167546230651299, 0.07578067650915064, 0.10738981769690588, 0.13126096388323108, 0.07778838573418141, 0.8370450644141276, 0.13192010990616457, 0.14858234578356835, 0.1609550679667362, 0.015577307369117695, 0.016191170370416993], "count": [948]}, "action": {"min": [-0.5571428571428572, 0.0, -0.08, 0.0, -1.0, -0.7357142857142858, -0.5928571428571429, -0.3357142857142857, -0.13714285714285715, -0.15142857142857147, -0.21714285714285717, -1.0], "max": [0.8642857142857142, 0.9214285714285714, 0.3457142857142857, 0.0, 1.0, 0.5857142857142857, 0.5428571428571429, 0.5357142857142857, 0.21714285714285717, 0.1142857142857143, 0.11142857142857143, 1.0], "mean": [0.033604581072935506, 0.08053044002411099, 0.013740204942736587, 0.0, -0.5886075949367089, 0.00805455093429774, -0.012055455093429753, -0.008438818565400812, 0.002896323086196502, -0.004505726341169379, -0.002043399638336346, 0.20675105485232068], "std": [0.17270429286794803, 0.22871627088172475, 0.07169032461527657, 0.0, 0.8084188884376863, 0.16987655707378574, 0.15199093102665018, 0.17299658262316528, 0.043671075664000684, 0.02496210486946559, 0.047779515754884795, 0.9783935820095453], "count": [948]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01793248951435089], "std": [0.13270613551139832], "count": [948]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010548523206751054], "std": [0.03246135559795173], "count": [948]}, "timestamp": {"min": [0.0], "max": [47.35], "mean": [23.674999999999997], "std": [13.68319376705112], "count": [948]}, "frame_index": {"min": [0], "max": [947], "mean": [473.5], "std": [273.66387534102245], "count": [948]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [948]}, "index": {"min": [90215], "max": [91162], "mean": [90688.5], "std": [273.66387534102245], "count": [948]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [948]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3190304520481958]], [[0.32241165162511576]], [[0.2763830741785121]]], "std": [[[0.20783052895230972]], [[0.19999913924932955]], [[0.14750243888291392]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3629406209387107]], [[0.32529123398823995]], [[0.30043823016070087]]], "std": [[[0.21533654636112068]], [[0.207637389983176]], [[0.2057151513293566]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3788082873884811]], [[0.3348805530355414]], [[0.3063494318231955]]], "std": [[[0.22451333452582928]], [[0.21794874289836014]], [[0.21904706228530577]]], "count": [217]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1306]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1306]}, "observation.state": {"min": [-3.0621949587346236, -5.452133265050716, 0.6999972597650317, 0.0, 0.0, 0.7069828510284424, 0.7061068415641785, 0.07818638432248037, -0.23166645370211247, 0.2936079353837623, -0.9973246455192566, -0.17364084720611572, -0.17173045873641968, 5.415509804151952e-05, 0.0032058207964887407, -0.04001138130261609], "max": [-1.0971968292200194, -0.7880046088118511, 0.7001340864494786, 0.0, 0.0, 0.7081052660942078, 0.7072307467460632, 0.6142716139460784, 0.149827050054391, 0.6023151821899029, 0.9910772442817688, 0.2407110631465912, 0.20060336589813232, 0.2999820411205292, 0.04001780571795368, -0.0038652901325393844], "mean": [-2.478571120817494, -4.331494065013193, 0.7000353986026387, 0.0, 0.0, 0.7072177441707979, 0.7069957512352405, 0.4205776073499576, -0.08022357495169567, 0.4233641073945334, -0.25204308346986404, 0.02848501930193003, 0.007871968017868408, 0.17513439436398356, 0.022873794170267102, -0.022308011234153994], "std": [0.8311914813270109, 1.8410456666408361, 4.93889335018054e-05, 0.0, 0.0, 0.00018139578972074235, 0.00018157010943563757, 0.13856766860787237, 0.12969126320766008, 0.08342012729291438, 0.9405670015643333, 0.06882893349285933, 0.09028063263115696, 0.08587531149799214, 0.015420469992424078, 0.015797088802956414], "count": [1306]}, "action": {"min": [-0.02857142857142857, -0.9785714285714284, 0.0, 0.0, -1.0, -0.5357142857142857, -0.44285714285714284, -0.42142857142857143, -0.11142857142857143, -0.13142857142857142, -0.13714285714285715, -1.0], "max": [0.9071428571428573, 0.0, 0.0, 0.0, 1.0, 0.6071428571428572, 0.27142857142857146, 0.4285714285714286, 0.1742857142857143, 0.22, 0.17142857142857143, 1.0], "mean": [0.11256289652154886, -0.07393896302778387, 0.0, 0.0, -0.5650842266462481, -0.008810982279588712, -0.005305184861080727, -0.006995187048785861, 0.000332531174797638, 4.375410194706e-06, -0.00043972872456792927, 0.08116385911179173], "std": [0.2609773162526255, 0.17679687976291322, 0.0, 0.0, 0.8250332216314801, 0.15093878740377104, 0.0962016451813985, 0.1337163149658468, 0.029066194065880097, 0.028609905937234174, 0.02728429396817544, 0.9967007715328117], "count": [1306]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01225114893168211], "std": [0.11000481247901917], "count": [1306]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007656967840735069], "std": [0.02766063073229471], "count": [1306]}, "timestamp": {"min": [0.0], "max": [65.25], "mean": [32.625], "std": [18.850480763099917], "count": [1306]}, "frame_index": {"min": [0], "max": [1305], "mean": [652.5], "std": [377.0096152619983], "count": [1306]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1306]}, "index": {"min": [91163], "max": [92468], "mean": [91815.5], "std": [377.0096152619983], "count": [1306]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1306]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3248667533984331]], [[0.3312861299347232]], [[0.30111872813443025]]], "std": [[[0.22351164196558798]], [[0.2260126334847576]], [[0.19402283588891076]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35697695513667665]], [[0.3261270003592794]], [[0.3055204223508293]]], "std": [[[0.22264919151367238]], [[0.2167042808191775]], [[0.21410090928352415]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3769427283394165]], [[0.33967017543757705]], [[0.31505371391212506]]], "std": [[[0.2213734519106517]], [[0.21599964824916348]], [[0.21564824468099217]]], "count": [173]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [970]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [970]}, "observation.state": {"min": [3.101680448607983, -4.063244041958782, 0.699996609378229, 0.0, 0.0, 0.013665271922945976, 0.6941099762916565, 0.018339651027059034, -0.24171940061681374, 0.2908320302987094, -0.9982977509498596, -0.1125909835100174, -0.16369713842868805, 8.688656089361757e-05, 0.0036719375092290705, -0.04000248490489773], "max": [4.920950346080097, -2.223138535602594, 0.7002438722896963, 0.0, 0.0, 0.7198688983917236, 0.9999066591262817, 0.7210862589744798, 0.16160958436248452, 0.5954985888995246, 0.9986571669578552, 0.11407357454299927, 0.17267310619354248, 0.25161564350128174, 0.04002112232565436, -0.003671055960408448], "mean": [3.6515020012288684, -3.422175556413462, 0.7000306561498046, 0.0, 0.0, 0.5489368611341823, 0.7795631076257253, 0.47308206719184387, -0.09698502887312582, 0.4589810645925581, -0.41844438849036225, 0.05540593454671889, 0.06430657104906037, 0.13545985321447399, 0.019049302968132755, -0.018420684333570317], "std": [0.746285007167244, 0.7108493950367604, 5.530128255429544e-05, 0.0, 0.0, 0.2755773997702793, 0.12250205487515983, 0.14279278435980916, 0.13850919075256907, 0.09924886261200452, 0.8826866322452235, 0.06182987389291357, 0.07344867489324854, 0.10486390144805485, 0.01552106616212719, 0.015834692082727742], "count": [970]}, "action": {"min": [-0.6857142857142858, -0.8214285714285715, -0.4228571428571429, 0.0, -1.0, -0.8357142857142857, -0.5357142857142857, -0.5357142857142857, -0.07714285714285714, -0.08571428571428572, -0.18285714285714286, -1.0], "max": [1.0, 0.8428571428571429, 0.06285714285714286, 0.0, 1.0, 0.6071428571428572, 0.46428571428571436, 0.6500000000000001, 0.24571428571428575, 0.08571428571428572, 0.16, 1.0], "mean": [0.06643593519882178, -0.03685567010309281, -0.03408247422680413, 0.0, -0.4618556701030928, -0.017525773195876254, -0.00509572901325477, 0.0023195876288659525, 0.002659793814432991, 0.002868924889543446, -0.002256259204712813, 0.2556701030927835], "std": [0.22565006484749317, 0.20120249588105782, 0.0950476683645673, 0.0, 0.886955094688356, 0.21437190367432188, 0.136348476703516, 0.20584182173374574, 0.03049881569166487, 0.017856991694241896, 0.0307459810988703, 0.9667640862095218], "count": [970]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022680412977933884], "std": [0.14888253808021545], "count": [970]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010309278350515464], "std": [0.03209151013664614], "count": [970]}, "timestamp": {"min": [0.0], "max": [48.45], "mean": [24.225], "std": [14.00073658776566], "count": [970]}, "frame_index": {"min": [0], "max": [969], "mean": [484.5], "std": [280.01473175531316], "count": [970]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [970]}, "index": {"min": [92469], "max": [93438], "mean": [92953.5], "std": [280.01473175531316], "count": [970]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [970]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6929433062760134]], [[0.6784744779732079]], [[0.6218901688936033]]], "std": [[[0.23138360443847708]], [[0.2369720925300922]], [[0.28886588930132556]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5408756938936738]], [[0.5172708496358472]], [[0.5033940755848081]]], "std": [[[0.23593746680010114]], [[0.24642315293521577]], [[0.25650540682748135]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5541407662958077]], [[0.5314547032664503]], [[0.5163379664019085]]], "std": [[[0.2342148514253604]], [[0.24653960608370457]], [[0.25866490622665633]]], "count": [217]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1312]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1312]}, "observation.state": {"min": [1.231977464653762, -3.8925817146764463, 0.6999968729344554, 0.0, 0.0, -0.001385839655995369, 0.7096230983734131, 0.10638884794396997, -0.1919855899641716, 0.29061080123111704, -0.9921970367431641, -0.45614534616470337, -0.2104184925556183, 0.00022447161609306931, 0.0031918131244889347, -0.04000195712799063], "max": [3.280602606191941, -0.8799687853884985, 0.7002157791386887, 0.0, 0.0, 0.7045814394950867, 1.0, 0.6530935810036236, 0.1960956084353791, 0.595444700989484, 0.9947952032089233, 0.36546361446380615, 0.13422101736068726, 0.2968207597732544, 0.04002220462320765, -0.0030210759005236784], "mean": [1.7511117358645576, -2.972294828791717, 0.700037666405542, 0.0, 0.0, 0.14905282736219477, 0.9416453179153728, 0.42673492996605233, -0.054223520589112555, 0.44705388079858127, -0.500976708558638, 0.06210099901186257, -0.08556813921597672, 0.1564155484273481, 0.021037813138295766, -0.02004293341480329], "std": [0.8324037573320898, 1.2885619049712183, 4.94220372637082e-05, 0.0, 0.0, 0.27958227002983943, 0.11367115013691988, 0.1733385073708844, 0.13628440325445965, 0.08995589767096047, 0.8076178643837706, 0.1834071887653378, 0.10922798692022824, 0.12474978307698373, 0.015207292906958183, 0.015731471645987517], "count": [1312]}, "action": {"min": [-0.2142857142857143, -0.7000000000000001, 0.0, 0.0, -1.0, -0.8285714285714285, -0.75, -0.32857142857142857, -0.12571428571428572, -0.12857142857142856, -0.34285714285714286, -1.0], "max": [0.8357142857142857, 0.8928571428571429, 0.5257142857142857, 0.0, 1.0, 0.4928571428571429, 0.39285714285714285, 0.6071428571428572, 0.17142857142857143, 0.08857142857142856, 0.13428571428571429, 1.0], "mean": [0.06571210801393731, 0.05850391986062721, 0.023645470383275257, 0.0, -0.5213414634146342, -0.007523954703832742, -0.004589503484320535, -0.002869120209059233, 0.0010670731707317057, -0.0006707317073170728, -0.0026524390243902515, 0.2027439024390244], "std": [0.17878402848256475, 0.22189123250207612, 0.08997891597037529, 0.0, 0.853348157860954, 0.18580119177014368, 0.1112327949764603, 0.15860125098100666, 0.026600930213960882, 0.015038050114016004, 0.05315279315692341, 0.9792317958602995], "count": [1312]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012195121496915817], "std": [0.10975609719753265], "count": [1312]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007621951219512195], "std": [0.027597358216816574], "count": [1312]}, "timestamp": {"min": [0.0], "max": [65.55], "mean": [32.775000000000006], "std": [18.93708332874944], "count": [1312]}, "frame_index": {"min": [0], "max": [1311], "mean": [655.5], "std": [378.7416665749888], "count": [1312]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [1312]}, "index": {"min": [93439], "max": [94750], "mean": [94094.5], "std": [378.7416665749888], "count": [1312]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1312]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6683184039155744]], [[0.6029990827945797]], [[0.5177158791492459]]], "std": [[[0.18136952591610436]], [[0.17462962821568276]], [[0.2181177226116221]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6026831162656766]], [[0.5467123117796499]], [[0.4968554536603194]]], "std": [[[0.1910380063575813]], [[0.18976719020093855]], [[0.19998966752857603]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5878339840627997]], [[0.5395121584971135]], [[0.49447258561468493]]], "std": [[[0.19931104430050128]], [[0.19485488972804973]], [[0.20113611989681326]]], "count": [184]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1049]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1049]}, "observation.state": {"min": [0.8516590284567315, -4.967977354965296, 0.6999959494837751, 0.0, 0.0, -1.0, 1.3694359779492515e-07, 0.017208144225790645, -0.11425845133493784, 0.30852967869819037, -0.997119665145874, -0.3087366223335266, -0.22457018494606018, 0.00017420918447896838, 0.0033485801647536537, -0.039999418896187945], "max": [4.08625709232145, -3.169031618434315, 0.7002493916707745, 0.0, 0.0, 1.0, 0.0011132993968203664, 0.6559649211882617, 0.2732623683663551, 0.601405513918375, 0.9922369122505188, 0.3131694793701172, 0.13087646663188934, 0.23521552979946136, 0.040022976353131054, -0.003245217213040677], "mean": [3.2450614964119358, -3.41934651294733, 0.7000337234603403, 0.0, 0.0, -0.19351763084346163, 0.00022296521957184952, 0.39329159702544564, 0.02421345544421927, 0.4507797997633448, -0.9038471717625374, 0.11752083098553157, -0.1360066311346905, 0.13054565811485142, 0.021400809149726162, -0.02040700105408474], "std": [1.3283430972600176, 0.49800616315929913, 5.832842558547585e-05, 0.0, 0.0, 0.981096762304576, 0.00023546040156679362, 0.1792144690057489, 0.14717904120690534, 0.08042582399017606, 0.2912519408696495, 0.19367258321502392, 0.0740227469173855, 0.07676615450092854, 0.015489361886939945, 0.016039172925709944], "count": [1049]}, "action": {"min": [-0.03571428571428572, -0.9214285714285714, 0.0, 0.0, -1.0, -0.9071428571428573, -0.6428571428571428, -0.3785714285714286, -0.10857142857142858, -0.22, -0.29428571428571426, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.5714285714285715, 0.7357142857142858, 0.7285714285714285, 0.19142857142857142, 0.12571428571428572, 0.17142857142857143, 1.0], "mean": [0.09156339370829365, 0.004923055971673723, 0.0, 0.0, -0.5767397521448999, -0.016995778292251098, -0.005617594988424349, -0.005174996595396973, 0.0039221026828271804, -0.0008879204684733758, -0.005460983249353131, 0.1553860819828408], "std": [0.2669301528444659, 0.2839413438221186, 0.0, 0.0, 0.8169279394755878, 0.2349131515938018, 0.14139146116338971, 0.17324430228627133, 0.027757613185711273, 0.025784655370117936, 0.059609094434122815, 0.9878538178931284], "count": [1049]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015252621844410896], "std": [0.12255602329969406], "count": [1049]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009532888465204957], "std": [0.030860655969949753], "count": [1049]}, "timestamp": {"min": [0.0], "max": [52.4], "mean": [26.2], "std": [15.141003929726722], "count": [1049]}, "frame_index": {"min": [0], "max": [1048], "mean": [524.0], "std": [302.82007859453444], "count": [1049]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [1049]}, "index": {"min": [94751], "max": [95799], "mean": [95275.0], "std": [302.82007859453444], "count": [1049]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1049]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5346402464196726]], [[0.5294908455299869]], [[0.4582661875478038]]], "std": [[[0.1704357326400008]], [[0.15252302143263524]], [[0.14077568548799468]]], "count": [143]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6274954725354684]], [[0.5748215719683579]], [[0.4940898196974785]]], "std": [[[0.21064728003769492]], [[0.17292165286394673]], [[0.16418585110842362]]], "count": [143]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.590856230597298]], [[0.5437032750060525]], [[0.4700378095762043]]], "std": [[[0.23881765703182053]], [[0.20423968967842285]], [[0.1917436423030856]]], "count": [143]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [749]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [749]}, "observation.state": {"min": [1.4007500023394415, -3.923387422268659, 0.6999974579549231, 0.0, 0.0, 0.7018733024597168, 0.7064716219902039, 0.14421534136796854, -0.27332565023830213, 0.2856594543448395, -0.9920227527618408, -0.24607762694358826, -0.16053088009357452, 0.0002021849504671991, 0.003805450578072974, -0.04000762527258989], "max": [2.404209974282893, -0.9186120771282478, 0.7001277809251946, 0.0, 0.0, 0.707741379737854, 0.7123017907142639, 0.5771101468207993, 0.09430504581491528, 0.5841816202799796, 0.9960376024246216, 0.39113184809684753, 0.16176576912403107, 0.34841975569725037, 0.04002498434037378, -0.004247678013227548], "mean": [2.124648245042342, -3.07930260365642, 0.7000334890247354, 0.0, 0.0, 0.7056408458462704, 0.7085626781066365, 0.4294151925685197, -0.11602990866047154, 0.41369404454419245, -0.2989374079277741, 0.06723999320585355, 0.025473682885337995, 0.2072077117236586, 0.02279268429119293, -0.0219517616734883], "std": [0.3850536959693805, 1.2207395369081624, 4.795016501583632e-05, 0.0, 0.0, 0.0022322192787338022, 0.0022186540254150377, 0.1118262563636067, 0.12077732652536605, 0.0794895280358349, 0.9117608884627524, 0.0823284298613463, 0.08943959567843907, 0.1282417184275774, 0.015017022542405691, 0.015532704051145456], "count": [749]}, "action": {"min": [-0.5214285714285715, -1.0, -0.04857142857142857, 0.0, -1.0, -0.9071428571428573, -0.6500000000000001, -0.3785714285714286, -0.32, -0.1742857142857143, -0.3485714285714286, -1.0], "max": [1.0, 1.0, 0.02, 0.0, 1.0, 0.6214285714285714, 0.55, 0.5642857142857142, 0.24285714285714288, 0.16857142857142857, 0.28285714285714286, 1.0], "mean": [0.10943162311653633, 0.03177570093457944, -0.00043868014495517833, 0.0, -0.5781041388518025, -0.010137325958420729, -0.010814419225634196, -0.007257295441541107, -0.0001754720579820684, -0.0029448788861338926, -0.008601945451077625, 0.09212283044058744], "std": [0.3064576917313236, 0.20585177616373443, 0.004015369404809208, 0.0, 0.8159629922014974, 0.2481423809682392, 0.1401530026280053, 0.21264067651951454, 0.050370705542933235, 0.03829337885267244, 0.06857698452861392, 0.9957476508190297], "count": [749]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0213618166744709], "std": [0.14458730816841125], "count": [749]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013351134846461949], "std": [0.036514804622636426], "count": [749]}, "timestamp": {"min": [0.0], "max": [37.4], "mean": [18.7], "std": [10.810874155219826], "count": [749]}, "frame_index": {"min": [0], "max": [748], "mean": [374.0], "std": [216.21748310439654], "count": [749]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [749]}, "index": {"min": [95800], "max": [96548], "mean": [96174.0], "std": [216.21748310439654], "count": [749]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [749]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6841348428134207]], [[0.6509608064012219]], [[0.5746772317325368]]], "std": [[[0.21322483080184843]], [[0.17637429429964432]], [[0.1808565374905256]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5310823883332579]], [[0.5385127960394205]], [[0.5166934941074875]]], "std": [[[0.24023586241446532]], [[0.1958822882449079]], [[0.17826132490993277]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5344256614120004]], [[0.5431621424008297]], [[0.5204509474283359]]], "std": [[[0.2409745249363957]], [[0.20184797049359954]], [[0.1868817470085181]]], "count": [193]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1120]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1120]}, "observation.state": {"min": [0.9869323862620445, -4.933312482352275, 0.6999962063980338, 0.0, 0.0, 0.69651859998703, 0.1368389129638672, 0.22775854726654776, -0.04010002800009316, 0.3078924259107122, -0.9858497977256775, -0.058946430683135986, -0.27534154057502747, 0.014265282079577446, 0.0034322568074954397, -0.039873677947312836], "max": [2.7706564996777105, -4.362814209197768, 0.7001080867562502, 0.0, 0.0, 0.9905933737754822, 0.7175387144088745, 0.5905497781911624, 0.16034164349936697, 0.6203650866318351, -0.9211534857749939, 0.021961480379104614, -0.16546668112277985, 0.3170489966869354, 0.04001789837162337, -0.002983489952238627], "mean": [2.1719057254997485, -4.452879156161149, 0.7000136050609741, 0.0, 0.0, 0.8000617294439247, 0.525844977583204, 0.4619932191254493, 0.029826020136893686, 0.41533519541453395, -0.9514429492609842, -0.014238191542348691, -0.21043290293642453, 0.19169990168634934, 0.020501288411126885, -0.0194799511312477], "std": [0.7706056567179089, 0.1608870439917387, 2.8104965863732426e-05, 0.0, 0.0, 0.1302768105044804, 0.25771341876621284, 0.08271613332550201, 0.056123844506192, 0.06871697557005134, 0.02427211276354676, 0.018315752841709804, 0.02489907973045437, 0.10944479891351892, 0.015070567205386876, 0.015561725299173098], "count": [1120]}, "action": {"min": [-1.0, -0.6928571428571428, -0.05428571428571429, 0.0, -1.0, -0.6142857142857143, -0.5214285714285715, -0.4357142857142858, -0.15714285714285714, -0.12857142857142856, -0.05428571428571429, -1.0], "max": [0.9857142857142858, 1.0, 0.47714285714285715, 0.0, 1.0, 0.40714285714285714, 0.40714285714285714, 0.5, 0.1142857142857143, 0.07428571428571429, 0.09428571428571429, 1.0], "mean": [0.011690051020408165, 0.01288265306122447, 0.022744897959183667, 0.0, -0.5285714285714286, -0.00019770408163263185, 0.0015497448979591847, -0.01064413265306121, 0.0007474489795918389, -3.061224489795813e-05, 0.0007831632653061219, 0.23035714285714284], "std": [0.17608512736832385, 0.18489551479158717, 0.08848573337217876, 0.0, 0.8488888295283178, 0.14687713492714963, 0.0967926511367211, 0.1364964524143258, 0.0271614261277653, 0.0180543945347341, 0.009114132614646796, 0.9731061538880079], "count": [1120]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014285714365541935], "std": [0.11866605281829834], "count": [1120]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008928571428571428], "std": [0.02986737264942452], "count": [1120]}, "timestamp": {"min": [0.0], "max": [55.95], "mean": [27.975], "std": [16.16580109366684], "count": [1120]}, "frame_index": {"min": [0], "max": [1119], "mean": [559.5], "std": [323.3160218733368], "count": [1120]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1120]}, "index": {"min": [96549], "max": [97668], "mean": [97108.5], "std": [323.3160218733368], "count": [1120]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1120]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6080253633727146]], [[0.614011952964135]], [[0.5732035853607187]]], "std": [[[0.18073553878203633]], [[0.18226330146512268]], [[0.20076381763862874]]], "count": [197]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49272310035411687]], [[0.453805931701083]], [[0.4150719408088624]]], "std": [[[0.24234626566223544]], [[0.2331043000918242]], [[0.2422069482634012]]], "count": [197]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48226408086582906]], [[0.454220841670613]], [[0.4233779963419973]]], "std": [[[0.2604857811733825]], [[0.2535033964286077]], [[0.2590993565489926]]], "count": [197]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1152]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1152]}, "observation.state": {"min": [0.7801021694577386, -2.7104735202514094, 0.6999952776489928, 0.0, 0.0, -0.05966035649180412, 0.6694526672363281, 0.025721666584831215, -0.1666588132074458, 0.296236863027005, -0.9959652423858643, -0.4235488176345825, -0.26577213406562805, 0.00019178692309651524, 0.004328211703411921, -0.040003362180989134], "max": [3.4897437433277405, -0.7488460362771949, 0.7001764888428194, 0.0, 0.0, 0.7428547143936157, 1.0, 0.5793077846816759, 0.17891104813160918, 0.5888662971500158, 0.9960284233093262, 0.2033323049545288, 0.17362472414970398, 0.26722434163093567, 0.04002187938208758, -0.0051034053381790205], "mean": [1.7821325035219617, -2.1709891071931997, 0.7000415576840586, 0.0, 0.0, 0.1447263912528433, 0.9368939072721534, 0.36749355102523473, -0.021909185980423802, 0.43421608542156226, -0.7609221006019248, -0.06792349591463183, -0.0982611257285397, 0.13181335029163518, 0.023272529489741445, -0.02255652737568546], "std": [0.9361801762247978, 0.8198816143431552, 4.904814863187435e-05, 0.0, 0.0, 0.29228264096775447, 0.1259164295932664, 0.14617794525842, 0.13564003780591188, 0.0810887052674606, 0.5827646544212728, 0.16938314097851717, 0.08639355889231673, 0.11655388776270686, 0.015481169641092684, 0.01597224256645546], "count": [1152]}, "action": {"min": [-0.9571428571428572, -0.9071428571428573, -0.06857142857142857, 0.0, -1.0, -0.7214285714285715, -0.5285714285714286, -0.4357142857142858, -0.19714285714285715, -0.18, -0.2571428571428571, -1.0], "max": [1.0, 1.0, 0.6142857142857143, 0.0, 1.0, 0.4285714285714286, 0.4, 0.4857142857142857, 0.1657142857142857, 0.16857142857142857, 0.09428571428571429, 1.0], "mean": [0.062109374999999994, 0.029954117063492016, 0.023881448412698417, 0.0, -0.5954861111111112, -0.014515128968253962, -0.009461805555555551, -0.007378472222222224, 0.0018129960317460312, -0.003172123015873015, -0.0017311507936507852, 0.04861111111111111], "std": [0.26107977265285937, 0.2119291962388675, 0.11756514262135803, 0.0, 0.8033656026204756, 0.15874116877563732, 0.10333395477004734, 0.14945822098500214, 0.030689952635694573, 0.02464990109988904, 0.03986629793489678, 0.998817781117534], "count": [1152]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013888888992369175], "std": [0.11702985316514969], "count": [1152]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008680555555555555], "std": [0.029449992107096135], "count": [1152]}, "timestamp": {"min": [0.0], "max": [57.55], "mean": [28.775000000000002], "std": [16.627681488008683], "count": [1152]}, "frame_index": {"min": [0], "max": [1151], "mean": [575.5], "std": [332.5536297601737], "count": [1152]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [1152]}, "index": {"min": [97669], "max": [98820], "mean": [98244.5], "std": [332.5536297601737], "count": [1152]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1152]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6366963701435163]], [[0.5876477999219707]], [[0.5123735381481694]]], "std": [[[0.2441449182237918]], [[0.24820750187871587]], [[0.27226596703225214]]], "count": [200]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5877730943268421]], [[0.5685682983398438]], [[0.5425743734322342]]], "std": [[[0.2650019564894202]], [[0.23969258080289652]], [[0.22194638120733326]]], "count": [200]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6233014625100529]], [[0.6013234148212507]], [[0.5718045555563535]]], "std": [[[0.25430109829631053]], [[0.22928180864877248]], [[0.2131192379245659]]], "count": [200]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1172]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1172]}, "observation.state": {"min": [0.9137199563998173, -2.6437679955732047, 0.6999970707381958, 0.0, 0.0, -1.0, 1.1460539894869726e-07, 0.16306740150273658, -0.23613514375729983, 0.27333830336324216, -0.9941808581352234, -0.12238539755344391, -0.1832137405872345, 0.001402580994181335, 0.0028306224906174344, -0.040002316514700265], "max": [3.927768378937406, -1.2506081858146822, 0.7001010282847843, 0.0, 0.0, 1.0, 0.03250914439558983, 0.6062544654748199, 0.0023356631570661257, 0.5993361630018782, 0.995183527469635, 0.15453076362609863, 0.13462300598621368, 0.2783617079257965, 0.040016219169091254, -0.0027142366068925797], "mean": [3.075390587189451, -2.2418167741303483, 0.7000178339847407, 0.0, 0.0, -0.875323715266921, 0.007916098261728632, 0.4361763600484931, -0.14195477144793153, 0.4262378412468909, -0.8838491420493598, 0.048127466068943206, -0.10705497569115292, 0.13960275185541185, 0.02018632173516234, -0.019510716756402167], "std": [1.165750278563016, 0.6096889584577967, 3.180364557949944e-05, 0.0, 0.0, 0.48331554476682415, 0.012322047583384102, 0.14368632253775326, 0.05814298633398483, 0.0963855312919208, 0.400472201190047, 0.11170086582503189, 0.05328670723501833, 0.09924820210047143, 0.016479672046536515, 0.016878711629826595], "count": [1172]}, "action": {"min": [-0.8428571428571429, -1.0, -0.04857142857142857, 0.0, -1.0, -0.7428571428571429, -0.41428571428571426, -0.4, -0.12, -0.06, -0.1457142857142857, -1.0], "max": [1.0, 0.0, 0.15142857142857147, 0.0, 1.0, 0.5142857142857143, 0.37142857142857144, 0.4285714285714286, 0.18285714285714286, 0.06857142857142857, 0.06571428571428571, 1.0], "mean": [0.07045953193564114, -0.05293149683081424, 0.002062408581179913, 0.0, -0.6791808873720137, -0.004101657727937574, -0.013773768893222817, -0.007666991711360311, 0.002286689419795223, -0.0004997562164797659, -0.0021428571428571425, 0.1552901023890785], "std": [0.25312642753172226, 0.18041486240397006, 0.015258292709432462, 0.0, 0.7339709273728554, 0.15555698571543486, 0.09679647468844285, 0.1382175171341266, 0.025375261155103798, 0.012193770708858418, 0.0260792334850618, 0.9878689103823353], "count": [1172]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013651876710355282], "std": [0.11604095250368118], "count": [1172]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008532423208191126], "std": [0.029197847495339033], "count": [1172]}, "timestamp": {"min": [0.0], "max": [58.55], "mean": [29.275000000000002], "std": [16.91635672950887], "count": [1172]}, "frame_index": {"min": [0], "max": [1171], "mean": [585.5], "std": [338.32713459017737], "count": [1172]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [1172]}, "index": {"min": [98821], "max": [99992], "mean": [99406.5], "std": [338.32713459017737], "count": [1172]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1172]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08627450980392157]], [[0.047058823529411764]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6114366269579121]], [[0.5856875209044109]], [[0.5243190049921866]]], "std": [[[0.2375373011375484]], [[0.2554572402763331]], [[0.29356304768594765]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5281216383183602]], [[0.515661811666009]], [[0.5016022785443682]]], "std": [[[0.2816596456404118]], [[0.2638211489727439]], [[0.2444922061080059]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5264417978402193]], [[0.5173597568339603]], [[0.506861935328543]]], "std": [[[0.2822009146933333]], [[0.2666582118075768]], [[0.2486019984422784]]], "count": [184]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1051]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1051]}, "observation.state": {"min": [1.670867484944206, -3.7160926273872974, 0.6999965691490511, 0.0, 0.0, 0.6832912564277649, 0.7070216536521912, 0.23710683576055258, -0.24787239643747627, 0.2578382603740127, -0.9978508949279785, -0.10108812153339386, -0.14463858306407928, 0.0006695230258628726, 0.0026304242016275273, -0.039936733599317396], "max": [2.955047219198473, -0.9749912565546509, 0.700148457123848, 0.0, 0.0, 0.7071919441223145, 0.7301459312438965, 0.6841371191484855, 0.1755932247618226, 0.5939035593170083, 0.9973829388618469, 0.11027124524116516, 0.1579979658126831, 0.3766860067844391, 0.040025706548363585, -0.002674972913286764], "mean": [2.817895853536389, -2.9546284380680836, 0.7000197586190168, 0.0, 0.0, 0.7035671600152151, 0.710585078492151, 0.5195302008915039, -0.06972485651504853, 0.4205610393783756, -0.5889514980148294, 0.04655923188923655, -0.04301802989460535, 0.1720571009138489, 0.020422407900505937, -0.019683729217999612], "std": [0.34515264447571864, 1.175412504984262, 3.312499921318761e-05, 0.0, 0.0, 0.005639588680131438, 0.005503405508574559, 0.14822741812921222, 0.14520304915636645, 0.09432662703078258, 0.7689327124277079, 0.0446230531987285, 0.08148975247686532, 0.14008876461886124, 0.01646064643904151, 0.01685401203714956], "count": [1051]}, "action": {"min": [-0.25, -0.9571428571428572, -0.06571428571428571, 0.0, -1.0, -0.7642857142857143, -0.5428571428571429, -0.37142857142857144, -0.1742857142857143, -0.10285714285714286, -0.19142857142857142, -1.0], "max": [1.0, 0.9571428571428572, 0.06, 0.0, 1.0, 0.6, 0.35714285714285715, 0.4357142857142858, 0.18571428571428572, 0.12285714285714287, 0.03142857142857143, 1.0], "mean": [0.08079380182139467, 0.0011077885007475892, -0.0004920483892891117, 0.0, -0.6517602283539486, -0.0016650808753568382, -0.009215712926464534, -0.012810928367541115, 0.002960445833899687, -0.0005273888813375022, -0.0019165420687780354, 0.14176974310180782], "std": [0.24651232930469064, 0.2399060032578468, 0.011319936562636664, 0.0, 0.7584250818215417, 0.20279842431148354, 0.1294208887876804, 0.1570526567776027, 0.03360529886103262, 0.025237940721786204, 0.020921153411033608, 0.9898996615520408], "count": [1051]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01617507077753544], "std": [0.12614847719669342], "count": [1051]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009514747859181732], "std": [0.030831306843044054], "count": [1051]}, "timestamp": {"min": [0.0], "max": [52.5], "mean": [26.25], "std": [15.169871456278067], "count": [1051]}, "frame_index": {"min": [0], "max": [1050], "mean": [525.0], "std": [303.3974291255613], "count": [1051]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1051]}, "index": {"min": [99993], "max": [101043], "mean": [100518.0], "std": [303.3974291255613], "count": [1051]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1051]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5565741979889591]], [[0.5446573826030977]], [[0.5116923567908008]]], "std": [[[0.19205264126086571]], [[0.2137627245759855]], [[0.223956589829944]]], "count": [187]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5847731310378533]], [[0.5616209075150156]], [[0.5309272819711838]]], "std": [[[0.2385997684061347]], [[0.2194625630762952]], [[0.20480056863563617]]], "count": [187]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5830103881106358]], [[0.5652793949075599]], [[0.5396330939132211]]], "std": [[[0.23433348370000934]], [[0.2188024733327934]], [[0.2083484536692093]]], "count": [187]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1072]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1072]}, "observation.state": {"min": [1.7728875313241925, -2.8397908065065454, 0.6999972853225455, 0.0, 0.0, -1.0, 0.0, 0.24774109154291146, -0.2947336617182539, 0.2658447180329483, -0.9901280403137207, -0.03337329626083374, -0.31614094972610474, 0.01912154071033001, 0.003973652246286806, -0.039875980467256045], "max": [3.9330487831788625, -0.8622787373235704, 0.7001265810825362, 0.0, 0.0, 1.0, 0.7151876091957092, 0.67835775003442, -0.008691484526119009, 0.597120061886464, -0.8737443685531616, 0.24021783471107483, -0.1233111172914505, 0.3531253933906555, 0.04002424107479592, -0.0035289888177442398], "mean": [3.1672278165466605, -2.2761806974857954, 0.7000176131786682, 0.0, 0.0, 0.2675464881111437, 0.1689686694563106, 0.44534987079873495, -0.16695055593725078, 0.41130198896217246, -0.9372097264363695, 0.07332740289006215, -0.2241427340377956, 0.1913530331351725, 0.019672673575798418, -0.018698262585560104], "std": [0.7803515456646483, 0.8148163553624277, 3.057911168905401e-05, 0.0, 0.0, 0.9024807865692979, 0.29222748303844387, 0.12466587516226238, 0.08409788431659944, 0.08550720127702185, 0.047506089910258606, 0.09338197461313703, 0.06939539921656518, 0.11667188639969112, 0.01540548078138177, 0.015881392337270945], "count": [1072]}, "action": {"min": [-0.7142857142857143, -0.9071428571428573, -0.45999999999999996, 0.0, -1.0, -0.6214285714285714, -0.42142857142857143, -0.4, -0.15714285714285714, -0.08285714285714285, -0.10571428571428572, -1.0], "max": [1.0, 0.8357142857142857, 0.011428571428571429, 0.0, 1.0, 0.5214285714285715, 0.5, 0.6214285714285714, 0.10857142857142858, 0.1, 0.05142857142857143, 1.0], "mean": [0.06986940298507463, -0.02136860341151387, -0.030373134328358205, 0.0, -0.5671641791044776, 0.003318230277185516, -0.0025119936034115106, -0.004564232409381656, 0.002038912579957353, 0.00041311300639658807, -0.002547974413646054, 0.24440298507462688], "std": [0.23438669979344753, 0.19831293819905482, 0.0964663400889852, 0.0, 0.8236047558997904, 0.14280027069322182, 0.10441134713198166, 0.148212726716173, 0.02821298088218021, 0.01939980244493619, 0.01278034626660955, 0.9696737497151474], "count": [1072]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014925372786819935], "std": [0.12125431001186371], "count": [1072]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009328358208955224], "std": [0.03052811226110741], "count": [1072]}, "timestamp": {"min": [0.0], "max": [53.55], "mean": [26.775], "std": [15.472980482117853], "count": [1072]}, "frame_index": {"min": [0], "max": [1071], "mean": [535.5], "std": [309.45960964235707], "count": [1072]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1072]}, "index": {"min": [101044], "max": [102115], "mean": [101579.5], "std": [309.45960964235707], "count": [1072]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1072]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4333132992834006]], [[0.4230752789445214]], [[0.35707464621655094]]], "std": [[[0.27564621121988364]], [[0.263083715074229]], [[0.23128439590808136]]], "count": [152]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5371716872334358]], [[0.47593052473353653]], [[0.4313916811633036]]], "std": [[[0.249287680332483]], [[0.25565850489671577]], [[0.26961943822739837]]], "count": [152]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4999219353107968]], [[0.45553638745633684]], [[0.4244682918269076]]], "std": [[[0.26736321739010466]], [[0.2665824572889745]], [[0.27466340397950384]]], "count": [152]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [812]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [812]}, "observation.state": {"min": [-0.034042961944364465, -3.472149659354314, 0.6999956235026454, 0.0, 0.0, 0.6850908398628235, 0.6796136498451233, 0.07066032688660795, -0.29643953415381974, 0.28968410168013925, -0.9879335761070251, -0.20156845450401306, -0.3405520021915436, 0.00011472220649011433, 0.0035516995842915866, -0.03996021330561854], "max": [1.180076148382003, -0.9126935358904203, 0.7001151216695226, 0.0, 0.0, 0.7335701584815979, 0.7284576296806335, 0.547124709392977, -0.0032044809580240585, 0.6054456821341545, 0.9878283143043518, 0.2235211431980133, 0.21697664260864258, 0.3713061809539795, 0.04002067207478542, -0.0036597084015018116], "mean": [0.9171109545534278, -2.756169663309551, 0.7000111660734849, 0.0, 0.0, 0.7069877908734853, 0.7071374843420066, 0.3745679572520822, -0.14323423680824646, 0.46091188320664783, -0.7907706670866811, 0.1349275860696884, -0.16364605351364964, 0.15777563517156237, 0.02000345275120739, -0.019181039427892985], "std": [0.3430986819092546, 1.0752904030174573, 2.4490276077496016e-05, 0.0, 0.0, 0.00792098966700956, 0.007881628688898884, 0.1146018996868201, 0.0851767104500295, 0.09495711044777225, 0.5187502009709734, 0.09044959514537293, 0.10072998669143354, 0.131809276556599, 0.015754441490496807, 0.01618996427925273], "count": [812]}, "action": {"min": [-0.5714285714285715, -1.0, -0.16, 0.0, -1.0, -1.0, -0.7785714285714286, -0.44285714285714284, -0.2285714285714286, -0.15714285714285714, -0.18571428571428572, -1.0], "max": [1.0, 1.0, 0.18571428571428572, 0.0, 1.0, 0.5428571428571429, 0.6285714285714287, 0.7714285714285714, 0.17714285714285713, 0.10285714285714286, 0.32571428571428573, 1.0], "mean": [0.09399190710767064, -0.015877902885292047, 0.0028747361013370864, 0.0, -0.5394088669950738, -0.014787121745249822, -0.010775862068965551, 0.0018824771287825571, 0.0004961294862772715, -0.003958479943701621, -0.003114004222378607, 0.19950738916256158], "std": [0.29540507217239614, 0.30119236398680954, 0.033657893834139106, 0.0, 0.8420439859099316, 0.2543917802636667, 0.18330443656855916, 0.23069196912780182, 0.0429511654551127, 0.0346056426451954, 0.04410708762054567, 0.9798963218981637], "count": [812]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019704433158040047], "std": [0.1389826238155365], "count": [812]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012315270935960591], "std": [0.03507150459580823], "count": [812]}, "timestamp": {"min": [0.0], "max": [40.55], "mean": [20.275], "std": [11.720201576764797], "count": [812]}, "frame_index": {"min": [0], "max": [811], "mean": [405.5], "std": [234.4040315352959], "count": [812]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [812]}, "index": {"min": [102116], "max": [102927], "mean": [102521.5], "std": [234.4040315352959], "count": [812]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [812]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5950156413448968]], [[0.6058756412052192]], [[0.5543061413433229]]], "std": [[[0.19311560921597232]], [[0.19554590639507055]], [[0.20682098056721465]]], "count": [146]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5575495762687968]], [[0.45155168318665223]], [[0.4209624207215126]]], "std": [[[0.18532858230602042]], [[0.23057161116036756]], [[0.2348781159056223]]], "count": [146]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5978483119639793]], [[0.49915119942688924]], [[0.46898695510015864]]], "std": [[[0.18592602522889398]], [[0.2461876657018148]], [[0.24975902885854506]]], "count": [146]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [775]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [775]}, "observation.state": {"min": [0.7855838164051377, -6.122558296570833, 0.699994719998242, 0.0, 0.0, -1.0, 1.2218104927796958e-07, 0.015534478816426, -0.09510548397930929, 0.2930871857088766, -0.9939962029457092, -0.05965077877044678, -0.21475453674793243, 0.02034500055015087, 0.005210765482925901, -0.03983676766684541], "max": [3.5419894064629145, -4.551140065991099, 0.7004391887720003, 0.0, 0.0, 1.0, 0.09286215901374817, 0.7193616192807135, 0.07473885567778105, 0.5890830089294866, -0.9430626034736633, 0.32781848311424255, 0.019551316276192665, 0.30991125106811523, 0.04001987993836342, -0.0047507636459638595], "mean": [2.7222122883636843, -4.971096445540288, 0.7000655746908995, 0.0, 0.0, 0.4779951142495678, 0.020685752476279178, 0.4079227346796689, -0.021809598795879685, 0.4441134394175357, -0.9681752797865099, 0.0462229204273993, -0.05329707241614195, 0.16835729606930286, 0.018922038692676245, -0.018066418671481097], "std": [1.1892608122051749, 0.40874570619445005, 0.00010162987761814295, 0.0, 0.0, 0.8774139446243527, 0.03517888954313201, 0.1821821606026314, 0.05254924951983012, 0.09467407035945997, 0.0145850257018376, 0.12600774714432286, 0.06081001217401411, 0.09760522655391585, 0.014996690662282722, 0.015366805214034114], "count": [775]}, "action": {"min": [-0.13571428571428573, -1.0, -0.44, 0.0, -1.0, -1.0, -0.4714285714285715, -0.6428571428571428, -0.05142857142857143, -0.23714285714285716, -0.2485714285714286, -1.0], "max": [1.0, 1.0, 0.08857142857142856, 0.0, 1.0, 0.6928571428571428, 0.29285714285714287, 0.6785714285714286, 0.16857142857142857, 0.13714285714285715, 0.2, 1.0], "mean": [0.10706912442396312, -0.010156682027649782, -0.004202764976958525, 0.0, -0.535483870967742, -0.027474654377880176, 0.001317972350230412, -0.006497695852534623, 0.0035354838709677427, -0.0034175115207373276, -0.0019465437788018412, 0.28516129032258064], "std": [0.28601619042680854, 0.3065708989280809, 0.054340413555200986, 0.0, 0.8445454540363121, 0.28316172305768983, 0.09647459703557423, 0.231569007486747, 0.029841682737140836, 0.04025386045130827, 0.049964651490047675, 0.9584795451659662], "count": [775]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02064516209065914], "std": [0.14219331741333008], "count": [775]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012903225806451613], "std": [0.03589787804708014], "count": [775]}, "timestamp": {"min": [0.0], "max": [38.7], "mean": [19.35], "std": [11.186152153444008], "count": [775]}, "frame_index": {"min": [0], "max": [774], "mean": [387.0], "std": [223.72304306888014], "count": [775]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [775]}, "index": {"min": [102928], "max": [103702], "mean": [103315.0], "std": [223.72304306888014], "count": [775]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [775]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3594597963023437]], [[0.2768737963935574]], [[0.23891887696114275]]], "std": [[[0.21883348682388146]], [[0.1717009359183473]], [[0.15554611529037543]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44357216532053284]], [[0.3535175410075129]], [[0.3282750726149161]]], "std": [[[0.25541885207721093]], [[0.24976460209313794]], [[0.25743892521565204]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4663044445620382]], [[0.37418170266827094]], [[0.34830458508497686]]], "std": [[[0.2572061946909601]], [[0.26155657588743736]], [[0.2712140068051003]]], "count": [203]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1199]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1199]}, "observation.state": {"min": [0.465428668206075, -4.133092150401299, 0.6999966605860447, 0.0, 0.0, -0.00469724228605628, 0.9997921586036682, 0.20280812315744878, -0.18913267086125007, 0.27454629053901414, -0.9983643889427185, -0.057340264320373535, -0.3056735694408417, 7.781406020512804e-05, 0.0028184370219792596, -0.04000481412508785], "max": [4.791387723593143, -0.9887076434446639, 0.7002032094815972, 0.0, 0.0, 0.020389188081026077, 1.0, 0.7232326163233973, 0.23076107281339142, 0.6100763613287195, 0.9992126226425171, 0.4309230446815491, 0.24159684777259827, 0.3915543854236603, 0.04003554797271346, -0.003513888310794545], "mean": [1.7830783802091064, -1.8852854570766857, 0.7000480342620566, 0.0, 0.0, 0.003329024985335685, 0.9999761298062704, 0.4246015108863502, -0.04005612679200749, 0.4239517088835159, -0.382357818320754, 0.1768074398572938, -0.05139852769190218, 0.1960231881434792, 0.021651646556442805, -0.020623443740114426], "std": [1.5178641564433697, 1.3504804541560707, 7.841476607891291e-05, 0.0, 0.0, 0.006058029363247741, 4.960310920976213e-05, 0.1797920183303392, 0.14104836450927896, 0.08926143543302427, 0.8565898459746988, 0.12241404396506983, 0.10562983244501513, 0.14692074532751506, 0.015010019756170117, 0.015596406160999865], "count": [1199]}, "action": {"min": [-0.8714285714285716, -1.0, -0.028571428571428574, 0.0, -1.0, -0.8785714285714286, -0.5214285714285715, -0.30714285714285716, -0.17142857142857143, -0.23714285714285716, -0.23714285714285716, -1.0], "max": [1.0, 0.0, 0.07142857142857142, 0.0, 1.0, 0.4357142857142858, 0.3428571428571429, 0.6642857142857144, 0.30857142857142855, 0.1142857142857143, 0.06857142857142857, 1.0], "mean": [0.09615155486715118, -0.09398903848445136, 0.00033122840462289984, 0.0, -0.5379482902418682, -0.0018765638031693064, -0.007589658048373632, -0.007482425831049681, 0.0036268318837126183, -0.0020016680567139285, -0.007170260931728816, 0.17764804003336113], "std": [0.29682638411871276, 0.2375430371665711, 0.008651237226820905, 0.0, 0.8429778389885827, 0.1919496283295295, 0.11459773410076898, 0.1508629343239959, 0.03904913867292935, 0.033952420042146214, 0.03674744292863161, 0.984094087916548], "count": [1199]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013344453647732735], "std": [0.11474483460187912], "count": [1199]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008340283569641367], "std": [0.028867503419310728], "count": [1199]}, "timestamp": {"min": [0.0], "max": [59.9], "mean": [29.950000000000003], "std": [17.30606829987678], "count": [1199]}, "frame_index": {"min": [0], "max": [1198], "mean": [599.0], "std": [346.12136599753563], "count": [1199]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [1199]}, "index": {"min": [103703], "max": [104901], "mean": [104302.0], "std": [346.12136599753563], "count": [1199]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1199]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5562998569253633]], [[0.5273736695441723]], [[0.4811560274851786]]], "std": [[[0.21456305377651042]], [[0.24573748055666722]], [[0.2761041241507992]]], "count": [171]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4786212782481985]], [[0.4474025772246947]], [[0.42939223079639843]]], "std": [[[0.2140091007941481]], [[0.21756649182074828]], [[0.2300269377626273]]], "count": [171]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4836591040181835]], [[0.45936921317292223]], [[0.4451959918581719]]], "std": [[[0.2314308997580896]], [[0.23513178679856417]], [[0.24440983112019232]]], "count": [171]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [953]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [953]}, "observation.state": {"min": [1.858810694592095, -5.708011341627941, 0.6999959159075932, 0.0, 0.0, -1.0, 1.1425892409988592e-07, 0.06445015292785516, -0.27868639064736733, 0.29467301919934374, -0.9910774827003479, -0.10447186231613159, -0.16514071822166443, 0.0013417291920632124, 0.003927564150562346, -0.040005091353094935], "max": [3.7559028664290763, -3.6806431022474335, 0.7002485005352215, 0.0, 0.0, 1.0, 0.7338459491729736, 0.4999172750358407, 0.13968318348180153, 0.6075832780214199, 0.9960629343986511, 0.18731406331062317, 0.23473644256591797, 0.327970027923584, 0.040025964469017745, -0.004851916703584449], "mean": [3.097524399238016, -4.331002529706467, 0.7000750969187336, 0.0, 0.0, -0.29953205479154554, 0.1728520721930067, 0.3627688604553312, -0.10725284127577007, 0.42812194455050656, -0.3440769897678091, 0.060273500634328014, 0.0155430859036052, 0.16595587461924421, 0.02316967341902692, -0.022299077923789705], "std": [0.6873095120361806, 0.8886843776193736, 9.271267516993992e-05, 0.0, 0.0, 0.888888147207209, 0.3004673054422861, 0.104134509427049, 0.1429521912259524, 0.08609467227939901, 0.9078027087103371, 0.0637793544290705, 0.09380896807210112, 0.11498479395478015, 0.014420786833196144, 0.014880496264923097], "count": [953]}, "action": {"min": [-0.6642857142857144, -0.2, 0.0, 0.0, -1.0, -0.7571428571428572, -0.5357142857142857, -0.45, -0.09142857142857143, -0.11142857142857143, -0.23714285714285716, -1.0], "max": [0.9714285714285714, 0.9214285714285714, 0.5257142857142857, 0.0, 1.0, 0.41428571428571426, 0.41428571428571426, 0.4928571428571429, 0.32857142857142857, 0.08857142857142856, 0.20285714285714287, 1.0], "mean": [0.04861340128916207, 0.06110028481487036, 0.031269674711437566, 0.0, -0.540398740818468, -0.014098336081546984, -0.014360665567381196, -0.010830460200869418, 0.0028031779343426805, -0.0008334582521361113, -0.0016279418378054259, 0.12277019937040923], "std": [0.23715283167240506, 0.1937136367636779, 0.11280778954858364, 0.0, 0.8414090568337239, 0.16412095786862918, 0.1356809273214699, 0.16381431098237595, 0.04136415732902442, 0.02557531770488215, 0.04220831090361932, 0.9924351254094899], "count": [953]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016789086163043976], "std": [0.12848040461540222], "count": [953]}, "next.done": {"min": [false], "max": [true], "mean": [0.001049317943336831], "std": [0.03237617758770517], "count": [953]}, "timestamp": {"min": [0.0], "max": [47.6], "mean": [23.799999999999997], "std": [13.755362590640786], "count": [953]}, "frame_index": {"min": [0], "max": [952], "mean": [476.0], "std": [275.1072518128157], "count": [953]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [953]}, "index": {"min": [104902], "max": [105854], "mean": [105378.0], "std": [275.1072518128157], "count": [953]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [953]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6782455999978116]], [[0.6437047044770057]], [[0.5703597671368352]]], "std": [[[0.25896280864428856]], [[0.2971889528955077]], [[0.35718541707590845]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5897760907952048]], [[0.5733635470789878]], [[0.5613102653781239]]], "std": [[[0.2554022918267632]], [[0.26524501942688505]], [[0.27351597386224497]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5948235553376624]], [[0.5832827744745359]], [[0.5739820305563631]]], "std": [[[0.25606813605420226]], [[0.2617594890952291]], [[0.26726124640909693]]], "count": [196]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1141]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1141]}, "observation.state": {"min": [-1.1654604722898576, -3.821964582517352, 0.699997011846543, 0.0, 0.0, -0.13172008097171783, 0.9912869334220886, 0.2382811577401358, -0.092083669919516, 0.3044542473579136, -0.9945057034492493, -0.019763335585594177, -0.25160980224609375, 0.024175262078642845, 0.0037754809672659274, -0.040106829680190546], "max": [1.9539174607928083, -1.2450956530124355, 0.7003977620924915, 0.0, 0.0, 0.00021215464221313596, 1.0, 0.6473112534504079, 0.3954698034442304, 0.5839526976594522, -0.9041919112205505, 0.33117175102233887, 0.12630906701087952, 0.26898640394210815, 0.040024463394285684, -0.0033639126474502754], "mean": [-0.15590084166861332, -3.1103875511501533, 0.7001067278126586, 0.0, 0.0, -0.032422971065211456, 0.9980303798716492, 0.4450050328026859, 0.0808054826478599, 0.44224478260632366, -0.9738960302680548, 0.03461942780602929, -0.0685976955089646, 0.1495436558779084, 0.021853724287295907, -0.020819391782665383], "std": [1.0739393842622769, 1.0724947896090458, 0.00010745206020620718, 0.0, 0.0, 0.05359398227730947, 0.0034369175575230584, 0.11427557269636965, 0.1343330729618396, 0.08466542413478588, 0.01698587534100402, 0.07864110609420255, 0.10783328459989616, 0.07181998087223443, 0.01465127706856066, 0.015196435798207614], "count": [1141]}, "action": {"min": [-0.8928571428571429, 0.0, -0.11714285714285716, 0.0, -1.0, -0.7000000000000001, -0.7000000000000001, -0.41428571428571426, -0.05428571428571429, -0.18, -0.10285714285714286, -1.0], "max": [1.0, 0.8928571428571429, 0.0, 0.0, 1.0, 0.5928571428571429, 0.6642857142857144, 0.5928571428571429, 0.12285714285714287, 0.2142857142857143, 0.09142857142857143, 1.0], "mean": [0.059183673469387764, 0.10293602103418048, -0.006327782646801054, 0.0, -0.5915863277826467, 0.002441467384499837, 0.017509703267810206, -0.005659196193814946, 0.002824589958682861, -0.0009966195066983853, -0.003670965318642798, 0.19193689745836984], "std": [0.24002119209146855, 0.23063328955849977, 0.02041168739989746, 0.0, 0.8062416615262712, 0.14789336968032127, 0.15315059059604536, 0.16493342306292583, 0.016179441439970185, 0.036017088293058226, 0.022678093586225613, 0.9814072688716149], "count": [1141]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014022787101566792], "std": [0.11758463829755783], "count": [1141]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008764241893076249], "std": [0.029591486443705753], "count": [1141]}, "timestamp": {"min": [0.0], "max": [57.0], "mean": [28.5], "std": [16.46891010358609], "count": [1141]}, "frame_index": {"min": [0], "max": [1140], "mean": [570.0], "std": [329.3782020717218], "count": [1141]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [1141]}, "index": {"min": [105855], "max": [106995], "mean": [106425.0], "std": [329.3782020717218], "count": [1141]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1141]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33256416786281806]], [[0.30025125677052106]], [[0.24964018278146827]]], "std": [[[0.23123134415105526]], [[0.1987987616409021]], [[0.1646092515253211]]], "count": [233]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45200077921395393]], [[0.4307257818170522]], [[0.4017580875511333]]], "std": [[[0.24023751796172968]], [[0.22871170504517155]], [[0.2192808959338273]]], "count": [233]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47865077089924285]], [[0.45557991380313523]], [[0.42524702956075977]]], "std": [[[0.23851530589896028]], [[0.2274378096757539]], [[0.21804937479931066]]], "count": [233]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1437]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1437]}, "observation.state": {"min": [2.0367683532316887, -5.983019155340066, 0.699997248067969, 0.0, 0.0, 0.6816605925559998, 0.04403925687074661, 0.2470291082653837, -0.27623107947264214, 0.259040528493403, -0.9960736036300659, -0.20589017868041992, -0.24418291449546814, 0.021642494946718216, 0.002843985913179011, -0.03982104895214777], "max": [3.422810879526232, -1.181397658736254, 0.700281909291473, 0.0, 0.0, 0.9990297555923462, 0.7316685914993286, 0.6230383858023432, 0.06098740904371436, 0.5954235957314296, -0.898568332195282, 0.17104202508926392, -0.04475441575050354, 0.35022488236427307, 0.040023788570949535, -0.002618963899736304], "mean": [3.0979988662940556, -4.351139158220547, 0.7000559259807899, 0.0, 0.0, 0.7693035736545225, 0.5718389180623041, 0.4949168570910438, -0.1574277918722791, 0.4325158578434691, -0.9509153365674082, 0.07222196835150882, -0.14430984736484376, 0.2154189425902331, 0.01894191384902195, -0.01786358593845901], "std": [0.42970906169299045, 1.8735812507996743, 7.609156893741945e-05, 0.0, 0.0, 0.11916984722683494, 0.25878714086233773, 0.06608799162328349, 0.10807258111719183, 0.10102272789870533, 0.02645841221797881, 0.09697176939747591, 0.05217808983020719, 0.10240718447937654, 0.014952728410211943, 0.015461215068636623], "count": [1437]}, "action": {"min": [-0.5857142857142857, -0.7571428571428572, -0.06571428571428571, 0.0, -1.0, -0.5214285714285715, -0.3785714285714286, -0.5142857142857143, -0.07428571428571429, -0.10857142857142858, -0.18, -1.0], "max": [0.9285714285714287, 0.75, 0.36, 0.0, 1.0, 0.3785714285714286, 0.2142857142857143, 0.4714285714285715, 0.1, 0.06571428571428571, 0.04, 1.0], "mean": [0.09969181827219406, -0.03530171985286809, 0.02375584054080922, 0.0, -0.3639526791927627, 0.00967292971468337, -0.01383835371309277, -0.00774430857938165, 0.002857142857142855, 2.385923053981551e-05, -0.0017874540212744784, 0.31106471816283926], "std": [0.2572980972136576, 0.22880541244032304, 0.07645133143754355, 0.0, 0.9314174398777357, 0.10891233722767134, 0.0683667152660263, 0.13527954649684415, 0.018328610585655176, 0.019133502541999223, 0.022686581243697154, 0.9503887315800084], "count": [1437]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011134307831525803], "std": [0.10493014007806778], "count": [1437]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006958942240779402], "std": [0.02637062675225667], "count": [1437]}, "timestamp": {"min": [0.0], "max": [71.8], "mean": [35.9], "std": [20.74130339845273], "count": [1437]}, "frame_index": {"min": [0], "max": [1436], "mean": [718.0], "std": [414.8260679690545], "count": [1437]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [1437]}, "index": {"min": [106996], "max": [108432], "mean": [107714.0], "std": [414.8260679690545], "count": [1437]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1437]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7228077039129133]], [[0.6846640220996961]], [[0.5594932878823475]]], "std": [[[0.22239031865765074]], [[0.2234048119939744]], [[0.27428912452182996]]], "count": [223]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5778374521249959]], [[0.5166959780853467]], [[0.4653837144442979]]], "std": [[[0.2324539567800727]], [[0.24029904769987712]], [[0.2450197599153405]]], "count": [223]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5801182215502864]], [[0.5193302547314295]], [[0.47166061542242316]]], "std": [[[0.24402884623615514]], [[0.25676992367816687]], [[0.260091857893542]]], "count": [223]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1356]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1356]}, "observation.state": {"min": [-3.5095620950353594, -5.616927786768693, 0.6999979988688028, 0.0, 0.0, 0.6454938650131226, 0.7026954293251038, 0.22164664842156467, -0.15363521921234513, 0.28675378109979843, -0.9932446479797363, -0.1467166244983673, -0.21098662912845612, 0.0057839988730847836, 0.004430532010326324, -0.03988671475348077], "max": [-1.0009522152882577, -0.9833643340917051, 0.7002219629857136, 0.0, 0.0, 0.71149080991745, 0.7637653946876526, 0.6041512842317847, 0.13691292146916378, 0.5723751003287908, -0.8747870326042175, 0.17151308059692383, 0.14558778703212738, 0.4608766436576843, 0.040026425708109895, -0.003898616388447664], "mean": [-2.7423396052816744, -4.3139458833621065, 0.7000233874281165, 0.0, 0.0, 0.6910564871752156, 0.72194909029654, 0.4513500644820493, -0.012569875291340835, 0.4287544256349403, -0.9384860644737879, -0.02929975454500467, -0.04455693923816041, 0.2738237784036015, 0.020012978624837183, -0.018881440499888342], "std": [1.0899658828985925, 1.8281087565693497, 4.9265758094552394e-05, 0.0, 0.0, 0.025791433731982154, 0.023774165582675037, 0.09934009743821204, 0.08210347337858397, 0.08543483638094049, 0.04176853280583537, 0.06944631051060092, 0.11922936297967045, 0.14365794650467298, 0.01585599353936193, 0.016398538453929818], "count": [1356]}, "action": {"min": [-0.7428571428571429, -1.0, -0.12, 0.0, -1.0, -0.7785714285714286, -0.44285714285714284, -0.3785714285714286, -0.08285714285714285, -0.18571428571428572, -0.1142857142857143, -1.0], "max": [1.0, 0.09285714285714286, 0.03428571428571429, 0.0, 1.0, 0.4857142857142857, 0.45714285714285713, 0.39285714285714285, 0.13142857142857142, 0.2, 0.12857142857142856, 1.0], "mean": [0.10170143278550361, -0.0610830172777075, -0.003390223345975555, 0.0, -0.616519174041298, -0.003144753476611862, 0.0032869785082174593, -0.0078065739570164425, 0.003133164770332913, 0.0014833544037083854, -0.00036030341340075945, 0.20501474926253688], "std": [0.2815350997954372, 0.1933290283668469, 0.015086649119503422, 0.0, 0.7873398935907097, 0.1487782303595672, 0.09526262251806189, 0.12678683339003158, 0.02409875039510351, 0.035131485992174305, 0.028075707551696073, 0.9787588837833362], "count": [1356]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011799409985542297], "std": [0.107982337474823], "count": [1356]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007374631268436578], "std": [0.027146257108120887], "count": [1356]}, "timestamp": {"min": [0.0], "max": [67.75], "mean": [33.875], "std": [19.572168803345903], "count": [1356]}, "frame_index": {"min": [0], "max": [1355], "mean": [677.5], "std": [391.44337606691806], "count": [1356]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1356]}, "index": {"min": [108433], "max": [109788], "mean": [109110.5], "std": [391.44337606691806], "count": [1356]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1356]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.08235294117647059]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6650955751515296]], [[0.6270882256258477]], [[0.5347363983174467]]], "std": [[[0.2241224533274324]], [[0.18290278130635407]], [[0.1818682144047299]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.658594258626302]], [[0.5815989310900581]], [[0.5236901682676999]]], "std": [[[0.2154313429278059]], [[0.2534782538628702]], [[0.27364098840297424]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.054901960784313725]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6571380524468281]], [[0.5824717119733361]], [[0.5274571205503905]]], "std": [[[0.2219052751957276]], [[0.25813573539890405]], [[0.2781661235858289]]], "count": [178]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1005]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1005]}, "observation.state": {"min": [1.2246737445695342, -3.413219738397886, 0.6999973125368321, 0.0, 0.0, -0.183977872133255, 0.9829303622245789, 0.24092680290782975, -0.33573362144799956, 0.28681381026345865, -0.9876379370689392, -0.18517500162124634, -0.2613760828971863, 7.17355142114684e-05, 0.003998521601703606, -0.04000084528983266], "max": [4.610746503785916, -1.3331716253163024, 0.7001768465575154, 0.0, 0.0, 0.0004429345135577023, 1.0, 0.7348291676808958, 0.0332409413186876, 0.6048514372464433, 0.9861220717430115, 0.2672160565853119, 0.2526656687259674, 0.3553645610809326, 0.04002788741264176, -0.004689495603306277], "mean": [2.2150726377702985, -2.9859325575758606, 0.7000452658552938, 0.0, 0.0, -0.04332688164432608, 0.9971955054434971, 0.4706090424697033, -0.14820860709750527, 0.4152292202843836, -0.596473687501689, 0.025850028051665766, -0.06064429445498025, 0.17542978586805394, 0.021412013754938914, -0.02038228758755302], "std": [1.430923531544785, 0.6418945233053721, 6.0097341547791105e-05, 0.0, 0.0, 0.06083396976671248, 0.004811096673870077, 0.1400014684423112, 0.11234190494877182, 0.07500089727754532, 0.7510892962789029, 0.09673007497727122, 0.1284135859840606, 0.13825949321826217, 0.015491563153626167, 0.01615663280304499], "count": [1005]}, "action": {"min": [-0.37142857142857144, -0.8285714285714285, -0.1657142857142857, 0.0, -1.0, -0.7642857142857143, -0.6571428571428571, -0.55, -0.12857142857142856, -0.13142857142857142, -0.24, -1.0], "max": [1.0, 1.0, 0.10857142857142858, 0.0, 1.0, 0.5642857142857142, 0.5142857142857143, 0.6, 0.3171428571428571, 0.1457142857142857, 0.13428571428571429, 1.0], "mean": [0.10818052594171997, 0.054520255863539306, -0.00483297796730632, 0.0, -0.5164179104477612, 0.0006823027718550167, -0.010533049040511718, -0.014299928926794594, 0.004736318407960197, -0.0022914001421464113, -0.0038464818763326225, 0.14626865671641792], "std": [0.28367151671673635, 0.30025165574605367, 0.04094868280779482, 0.0, 0.8563366988333357, 0.20322644116103908, 0.12471606558165554, 0.15110517760470535, 0.04181177115864113, 0.02135611460418547, 0.0436846431084973, 0.9892449039860618], "count": [1005]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015920398756861687], "std": [0.1251676231622696], "count": [1005]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009950248756218905], "std": [0.031528317448268374], "count": [1005]}, "timestamp": {"min": [0.0], "max": [50.2], "mean": [25.1], "std": [14.505918332414073], "count": [1005]}, "frame_index": {"min": [0], "max": [1004], "mean": [502.0], "std": [290.11836664828144], "count": [1005]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [1005]}, "index": {"min": [109789], "max": [110793], "mean": [110291.0], "std": [290.11836664828144], "count": [1005]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1005]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6333974449693591]], [[0.4816863679363507]], [[0.4157416514267]]], "std": [[[0.19082256253718857]], [[0.2648379279329133]], [[0.295769921226565]]], "count": [213]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5507009171039308]], [[0.4729927088974436]], [[0.4267805218707568]]], "std": [[[0.20012158320314088]], [[0.22134147173516872]], [[0.22498137154497352]]], "count": [213]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5483177175928323]], [[0.47393720757288577]], [[0.43550739851948705]]], "std": [[[0.22122406163044667]], [[0.2494038602242629]], [[0.2515353656438493]]], "count": [213]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1280]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1280]}, "observation.state": {"min": [0.8512814812713164, -6.9473094693307, 0.699996333980719, 0.0, 0.0, -1.0, 1.1603550831296161e-07, 0.07516313844338451, -0.2991574612278951, 0.26796105299726947, -0.9951990246772766, -0.03730358928442001, -0.15620651841163635, 0.00017750822007656097, 0.003215933589899593, -0.039978559787231305], "max": [3.6907191509396857, -5.478368009493893, 0.700838947327225, 0.0, 0.0, 1.0, 0.03547891974449158, 0.4346180752134172, -0.006006879194208281, 0.5694093017318109, 0.9953331351280212, 0.23664164543151855, 0.2307867556810379, 0.32308030128479004, 0.040025892763195375, -0.002339994254186511], "mean": [2.896169689140719, -5.751265616808395, 0.7000972318017775, 0.0, 0.0, -0.4279769953805953, 0.00932827275562228, 0.27822146246250384, -0.1587410221297009, 0.42835488013162104, -0.8873936901334674, 0.14217002476216295, 0.09898965388156285, 0.16166842640222967, 0.020872806820674064, -0.020173429040244356], "std": [1.182585762276802, 0.4389787800040051, 0.00020084424481005134, 0.0, 0.0, 0.9036258920118015, 0.014454828330056417, 0.13990847212465743, 0.07163117295319744, 0.09014619187084932, 0.3555810448199917, 0.0631951034749265, 0.12638366521055094, 0.09990075646383952, 0.014973002495091349, 0.015290382149197888], "count": [1280]}, "action": {"min": [-0.17142857142857146, -0.6857142857142858, 0.0, 0.0, -1.0, -0.6642857142857144, -0.5142857142857143, -0.44285714285714284, -0.15142857142857147, -0.23714285714285716, -0.18857142857142858, -1.0], "max": [0.9285714285714287, 0.7214285714285715, 0.04, 0.0, 1.0, 0.5428571428571429, 0.5071428571428571, 0.4714285714285715, 0.19428571428571428, 0.15428571428571428, 0.045714285714285714, 1.0], "mean": [0.08152901785714287, 0.002611607142857161, 0.001524553571428572, 0.0, -0.4765625, -0.01061383928571427, -0.00834263392857142, -0.010345982142857136, 0.00286830357142857, -0.001549107142857139, -0.0011339285714285713, 0.2234375], "std": [0.20676271180304065, 0.22278001393790303, 0.005774545805947572, 0.0, 0.8791405937583305, 0.1558617302006083, 0.13026031242207492, 0.14270535977888799, 0.02769308150411486, 0.03536433205004239, 0.020538103510082104, 0.9747182585720527], "count": [1280]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012500000186264515], "std": [0.11110243201255798], "count": [1280]}, "next.done": {"min": [false], "max": [true], "mean": [0.00078125], "std": [0.02793992928476198], "count": [1280]}, "timestamp": {"min": [0.0], "max": [63.95], "mean": [31.975], "std": [18.47520297588094], "count": [1280]}, "frame_index": {"min": [0], "max": [1279], "mean": [639.5], "std": [369.5040595176188], "count": [1280]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [1280]}, "index": {"min": [110794], "max": [112073], "mean": [111433.5], "std": [369.5040595176188], "count": [1280]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1280]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5644854056734999]], [[0.5451638347294484]], [[0.467032499340068]]], "std": [[[0.17819055513234047]], [[0.17027114608433072]], [[0.1937462347417884]]], "count": [224]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5756436176994602]], [[0.5248900474954385]], [[0.47797261379680045]]], "std": [[[0.19176434844242726]], [[0.18073633458225435]], [[0.18770177141465327]]], "count": [224]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5871175026025425]], [[0.5384804389056037]], [[0.4908830645371552]]], "std": [[[0.18915466698125163]], [[0.1797734215083963]], [[0.1886066393259954]]], "count": [224]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1366]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1366]}, "observation.state": {"min": [-1.424438810947687, -3.812916040302787, 0.6999987814662467, 0.0, 0.0, -0.0013067153049632907, 0.7110258340835571, 0.14980143669013113, -0.24407020734973228, 0.25628324744570763, -0.9964951872825623, -0.14399389922618866, -0.1584431529045105, 0.007058636285364628, 0.0035440544233952364, -0.040108654073718004], "max": [2.8712802873288727, -0.8922645929223789, 0.700853518347153, 0.0, 0.0, 0.7031658887863159, 1.0, 0.6669352721463362, -0.0024106909521732778, 0.5994013439925258, -0.8752710223197937, 0.1668602079153061, 0.15532508492469788, 0.47703802585601807, 0.04015038011046789, -0.003417641129188369], "mean": [0.023640569079733578, -1.6639005546318542, 0.7003417512480972, 0.0, 0.0, 0.1798801263663807, 0.9300675362915805, 0.4495505192942791, -0.11031663984493831, 0.4034398357669027, -0.9350441166719267, 0.02315289639536493, 0.03489305473218766, 0.29444077974396704, 0.020121070643688465, -0.01863765629281232], "std": [1.7636272285342325, 0.8678045047940363, 0.0002526181835950625, 0.0, 0.0, 0.2968520208727936, 0.12040108975332667, 0.12480818693523506, 0.07286958713113909, 0.08297796040931586, 0.042165660443143224, 0.0760687610632471, 0.062195770207206916, 0.16065749663420245, 0.01498796640590135, 0.01582770188174168], "count": [1366]}, "action": {"min": [-0.807142857142857, -0.8214285714285715, 0.0, 0.0, -1.0, -1.0, -0.6214285714285714, -0.45, -0.16285714285714287, -0.17714285714285713, -0.15142857142857147, -1.0], "max": [1.0, 0.6714285714285714, 0.44857142857142857, 0.0, 1.0, 0.46428571428571436, 0.42142857142857143, 0.5428571428571429, 0.18285714285714286, 0.17142857142857143, 0.08857142857142856, 1.0], "mean": [0.14477096841664924, -0.06969253294289891, 0.024141393014013805, 0.0, -0.3191800878477306, -0.005558460573101852, -0.010729972809035784, -0.015796904413302688, 0.0032482744195774928, 0.00018824513700062596, 0.0003262915708010866, 0.2518301610541728], "std": [0.296550668462129, 0.23862358394240435, 0.08420883957111369, 0.0, 0.9476940811894453, 0.17913191582088603, 0.12383009365911593, 0.15279586015826388, 0.02839239035440651, 0.030060950452260704, 0.022560322351896697, 0.9677714451167856], "count": [1366]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011713030748069286], "std": [0.10759106278419495], "count": [1366]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007320644216691069], "std": [0.02704678360455515], "count": [1366]}, "timestamp": {"min": [0.0], "max": [68.25], "mean": [34.125], "std": [19.716506409605127], "count": [1366]}, "frame_index": {"min": [0], "max": [1365], "mean": [682.5], "std": [394.3301281921025], "count": [1366]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1366]}, "index": {"min": [112074], "max": [113439], "mean": [112756.5], "std": [394.3301281921025], "count": [1366]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1366]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7157518210771404]], [[0.6736874116677811]], [[0.579446802099362]]], "std": [[[0.21223298146998607]], [[0.19083379904612577]], [[0.22791485226625338]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.027450980392156862]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5318126664179541]], [[0.5417586312101759]], [[0.5252021075187997]]], "std": [[[0.25023182130669563]], [[0.2085519981885326]], [[0.19374312740952046]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5442694012460585]], [[0.5535618501551011]], [[0.5363757429104015]]], "std": [[[0.2469510387672958]], [[0.20912938136260042]], [[0.19859212118526293]]], "count": [178]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1007]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1007]}, "observation.state": {"min": [1.2806862562468964, -3.4170316423903118, 0.6999951133982072, 0.0, 0.0, 0.6657454371452332, 0.7031776905059814, 0.10434070256344485, -0.19555158928776306, 0.31135378549123083, -0.9938662648200989, -0.042025789618492126, -0.15363681316375732, 0.029792679473757744, 0.0024108522084543035, -0.03990837122862307], "max": [2.7029720062012372, -0.7984559728647442, 0.7001646908677044, 0.0, 0.0, 0.7110142707824707, 0.7461789846420288, 0.5147161570262546, 0.007519423664080538, 0.592513364847503, -0.9427507519721985, 0.221629798412323, 0.05508602783083916, 0.2766852378845215, 0.04001452958147351, -0.0020705271618936807], "mean": [2.3012704772390826, -2.6222147462182726, 0.7000119172619247, 0.0, 0.0, 0.6972349608074707, 0.7164270813912598, 0.3717556926952235, -0.10010791609832176, 0.5037699197073681, -0.9694380777358061, 0.15440556649655074, -0.046098560842920314, 0.1396743347119196, 0.020626528818979084, -0.019702490193753166], "std": [0.621506579470052, 0.9803186018333643, 3.603197803651472e-05, 0.0, 0.0, 0.01773036795503871, 0.01677103936417125, 0.11163335897261252, 0.06143787374530985, 0.06745989918987744, 0.011385637065233427, 0.07186840890041717, 0.066163476890914, 0.07101006322726292, 0.015996513768287892, 0.01647621266244641], "count": [1007]}, "action": {"min": [-0.75, 0.0, -0.28285714285714286, 0.0, -1.0, -0.6857142857142858, -0.3214285714285714, -0.45, -0.13714285714285715, -0.08, -0.10571428571428572, -1.0], "max": [1.0, 1.0, 0.04285714285714286, 0.0, 1.0, 0.5642857142857142, 0.46428571428571436, 0.6071428571428572, 0.13714285714285715, 0.08571428571428572, 0.2142857142857143, 1.0], "mean": [0.05933465739821253, 0.04521208682082567, -0.0026386721520783095, 0.0, -0.6981132075471698, -0.011200170236913028, -0.005972478365725629, -0.0006738544474393472, 0.0012569158745921432, 0.0005475954036033479, -0.001478223861540643, 0.16385302879841113], "std": [0.2646394842806002, 0.1914159808679044, 0.025552383906878043, 0.0, 0.7159873947551069, 0.17734149998936533, 0.10688268507327932, 0.15225075011093056, 0.024755884568196395, 0.01757852090545194, 0.02424390280227437, 0.9864847616428779], "count": [1007]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015888778492808342], "std": [0.1250452995300293], "count": [1007]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009930486593843098], "std": [0.03149702388709773], "count": [1007]}, "timestamp": {"min": [0.0], "max": [50.3], "mean": [25.15], "std": [14.534785860135678], "count": [1007]}, "frame_index": {"min": [0], "max": [1006], "mean": [503.0], "std": [290.6957172027135], "count": [1007]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [1007]}, "index": {"min": [113440], "max": [114446], "mean": [113943.0], "std": [290.6957172027135], "count": [1007]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1007]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6556473520860314]], [[0.6208293657761844]], [[0.5501139246758718]]], "std": [[[0.1922123875126586]], [[0.21749240104027878]], [[0.27990892019297886]]], "count": [220]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6177147428407176]], [[0.5510758849771266]], [[0.506385047898998]]], "std": [[[0.2048760483299725]], [[0.2322853751773958]], [[0.26118926294622546]]], "count": [220]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6278291897425252]], [[0.5587871019767993]], [[0.5124173629135159]]], "std": [[[0.19564489798377716]], [[0.228519701031903]], [[0.26046153105494685]]], "count": [220]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1334]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1334]}, "observation.state": {"min": [3.9693612857797773, -4.376316562244143, 0.6999971413500318, 0.0, 0.0, 0.7070740461349487, 0.6364416480064392, 0.24048761728948298, -0.3147670390661097, 0.25855472657018586, -0.9944120049476624, -0.1289675533771515, -0.1859447956085205, 0.0006394740776158869, 0.0034296991973279903, -0.03993727099691653], "max": [5.992299389896638, -0.9464400268201594, 0.7003661978871454, 0.0, 0.0, 0.771324872970581, 0.7071394324302673, 0.5184850946255479, 0.009533323681568895, 0.6248192467675782, 0.9957597851753235, 0.378937304019928, 0.19300708174705505, 0.5479621887207031, 0.040035762102964126, -0.0037580382125835614], "mean": [4.447802359743883, -3.3975765947973087, 0.7000944447606837, 0.0, 0.0, 0.716625676385645, 0.6969708408462233, 0.4324542535614143, -0.1642150882538525, 0.4441325286601417, -0.7252325713634491, 0.2364444120366802, -0.06340540411729907, 0.28969657786978187, 0.02130210547688702, -0.02012317742570488], "std": [0.6853497943507497, 1.3175493344072957, 0.00010487095033394545, 0.0, 0.0, 0.017690304032682434, 0.01913940733721467, 0.048324387891132074, 0.09522555680292469, 0.09720930657119893, 0.5046947282836443, 0.17283719042927717, 0.07489855896758686, 0.19997037402716178, 0.014754207719074819, 0.015421899456637756], "count": [1334]}, "action": {"min": [-0.7428571428571429, -1.0, -0.12857142857142856, 0.0, -1.0, -0.8714285714285716, -0.4285714285714286, -0.46428571428571436, -0.26857142857142857, -0.22, -0.3314285714285714, -1.0], "max": [1.0, 0.8428571428571429, 0.05428571428571429, 0.0, 1.0, 0.46428571428571436, 0.4285714285714286, 0.8785714285714286, 0.19142857142857142, 0.21142857142857144, 0.10285714285714286, 1.0], "mean": [0.09630541871921186, -0.032988862711501414, -0.002139644463482542, 0.0, -0.4752623688155922, 0.0041711287213536076, -0.001761619190404794, -0.005017134289997859, 0.0016170486185478692, -0.00012850717498393547, -0.005934889698008139, 0.2098950524737631], "std": [0.26063238645390663, 0.2438716468448346, 0.021320549219214002, 0.0, 0.8798441230057673, 0.12341893907270822, 0.09520441724409737, 0.18423684232156903, 0.043885547551140616, 0.03619423081138722, 0.03990281674260769, 0.9777239216399741], "count": [1334]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01199400331825018], "std": [0.1088583916425705], "count": [1334]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007496251874062968], "std": [0.02736901988535035], "count": [1334]}, "timestamp": {"min": [0.0], "max": [66.65], "mean": [33.325], "std": [19.254626067519464], "count": [1334]}, "frame_index": {"min": [0], "max": [1333], "mean": [666.5], "std": [385.09252135038923], "count": [1334]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [1334]}, "index": {"min": [114447], "max": [115780], "mean": [115113.5], "std": [385.09252135038923], "count": [1334]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1334]}}} +{"episode_index": 103, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38064262397658305]], [[0.38869073779837093]], [[0.34601833190149095]]], "std": [[[0.23861679742111686]], [[0.25190402286059516]], [[0.2026750228537077]]], "count": [179]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5334127639467973]], [[0.4408618787852628]], [[0.3916081136335142]]], "std": [[[0.26447309390240165]], [[0.28401716410630934]], [[0.2697719288970969]]], "count": [179]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.506545563864021]], [[0.40831337539216545]], [[0.36935149113520016]]], "std": [[[0.2808119399463685]], [[0.2966329144784375]], [[0.28003652303127713]]], "count": [179]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1012]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1012]}, "observation.state": {"min": [0.8941502215606163, -4.492523737081499, 0.6999977149405552, 0.0, 0.0, 0.6982698440551758, 0.08336075395345688, 0.21891469168336974, -0.13242257281149028, 0.2974446782251634, -0.9885963797569275, -0.05952085554599762, -0.19351297616958618, 0.03100583143532276, 0.005279115651413714, -0.039894546699120764], "max": [2.714061237445511, -4.282490869906588, 0.7002675286261054, 0.0, 0.0, 0.9965194463729858, 0.7158346772193909, 0.6344607697940541, 0.12960862636470427, 0.5974895594677995, -0.847234845161438, 0.19941619038581848, 0.030864737927913666, 0.5303476452827454, 0.04003631046816279, -0.0048238410699992735], "mean": [2.208364909484492, -4.370816660193065, 0.700090049334036, 0.0, 0.0, 0.7847498020400172, 0.5499262255671703, 0.46303409191341155, 0.02696280582868555, 0.4228851912863722, -0.9306849753668186, 0.08435327453693382, -0.0763543792021909, 0.2721080750653984, 0.020701142339770707, -0.019557620148327126], "std": [0.7497619865320585, 0.04608120546510076, 8.322722454590315e-05, 0.0, 0.0, 0.12423012910968886, 0.25751847748013307, 0.12772943936749678, 0.0832324112248297, 0.08155253493956581, 0.046220997691886895, 0.08148732714862787, 0.07477179797355764, 0.18019383520405377, 0.015499524189047964, 0.016011472377932563], "count": [1012]}, "action": {"min": [-0.35000000000000003, -0.5857142857142857, -0.08285714285714285, 0.0, -1.0, -0.5785714285714286, -0.4857142857142857, -0.4285714285714286, -0.14, -0.13714285714285715, -0.19714285714285715, -1.0], "max": [0.8642857142857142, 1.0, 0.4228571428571429, 0.0, 1.0, 0.5285714285714286, 0.4357142857142858, 0.4857142857142857, 0.1742857142857143, 0.12285714285714287, 0.2, 1.0], "mean": [0.028776115189158662, 0.023948334274421234, 0.02824110671936759, 0.0, -0.6067193675889329, -0.0023644833427442003, 0.006945228684359144, -0.008970920383963864, 0.003777526821005081, 0.0016205533596837943, -0.0014963297571993213, 0.1857707509881423], "std": [0.13173957740388428, 0.16535157737489078, 0.09277938251810983, 0.0, 0.7949161018575971, 0.17284378808979617, 0.11317510398990653, 0.15641364777420913, 0.03618080221912375, 0.02083604488756784, 0.030786578720243412, 0.9825931142020636], "count": [1012]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015810277312994003], "std": [0.12474098801612854], "count": [1012]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009881422924901185], "std": [0.03141919584107638], "count": [1012]}, "timestamp": {"min": [0.0], "max": [50.55], "mean": [25.275], "std": [14.60695467919306], "count": [1012]}, "frame_index": {"min": [0], "max": [1011], "mean": [505.5], "std": [292.13909358386115], "count": [1012]}, "episode_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [1012]}, "index": {"min": [115781], "max": [116792], "mean": [116286.5], "std": [292.13909358386115], "count": [1012]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1012]}}} diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/meta/info.json b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7078d23ffe7378a483e02ec00e8ae43b5ba18a35 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 104, + "total_frames": 116793, + "total_tasks": 1, + "total_videos": 312, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:104" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/meta/modality.json b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/meta/stats.json b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..37b55d24f2f8de5a33401b9c60823c49420b89e1 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 1.0 + ], + "std": [ + 0.0 + ], + "min": [ + 1.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 1.0 + ] + }, + "observation.state": { + "mean": [ + 2.159202814102173, + -3.2777774333953857, + 0.7002218961715698, + 0.0, + 0.0, + 0.3803465664386749, + 0.6758535504341125, + 0.42301297187805176, + -0.06369131803512573, + 0.4352222681045532, + -0.7151821255683899, + 0.05189279094338417, + -0.053402163088321686, + 0.18736641108989716, + 0.021055253222584724, + -0.0201578289270401 + ], + "std": [ + 1.7042577266693115, + 1.3899370431900024, + 0.00019307929323986173, + 0.0, + 0.0, + 0.553896963596344, + 0.3031887114048004, + 0.14340680837631226, + 0.1285940557718277, + 0.09396151453256607, + 0.6277108788490295, + 0.13986414670944214, + 0.11829663068056107, + 0.14255589246749878, + 0.015435353852808475, + 0.015923066064715385 + ], + "min": [ + -3.5198278427124023, + -6.947309494018555, + 0.6999945044517517, + 0.0, + 0.0, + -1.0, + 0.0, + 0.008640850894153118, + -0.5121023058891296, + 0.24790748953819275, + -0.9997528195381165, + -0.9252073168754578, + -0.43631771206855774, + 1.4202518059391878e-06, + 0.0010316998232156038, + -0.040122367441654205 + ], + "max": [ + 6.307278156280518, + -0.7465355396270752, + 0.7011335492134094, + 0.0, + 0.0, + 1.0, + 1.0, + 0.8103860020637512, + 0.3954698145389557, + 0.7626518607139587, + 0.9998360276222229, + 0.928619384765625, + 0.4400467276573181, + 0.5960177779197693, + 0.04015038162469864, + -0.001255563460290432 + ], + "q01": [ + -3.5095162391662598, + -5.99691915512085, + 0.6999969482421875, + 0.0, + 0.0, + -1.0, + 7.555071988463169e-06, + 0.13136093318462372, + -0.31947627663612366, + 0.2693991959095001, + -0.9963211417198181, + -0.3047904074192047, + -0.2685617208480835, + 0.0020177240949124098, + 0.002899217652156949, + -0.04000777751207352 + ], + "q99": [ + 5.688826084136963, + -0.7813754081726074, + 0.7004770040512085, + 0.0, + 0.0, + 1.0, + 1.0, + 0.7181521654129028, + 0.2588714361190796, + 0.6387699842453003, + 0.9945077300071716, + 0.3833272159099579, + 0.2562803626060486, + 0.5139937400817871, + 0.04002644121646881, + -0.002700094599276781 + ] + }, + "action": { + "mean": [ + 0.0777188241481781, + 0.01855083368718624, + 0.003539245342835784, + 0.0, + -0.5585180521011353, + -0.005562506150454283, + -0.0026008759159594774, + -0.006655524950474501, + 0.0026894069742411375, + -0.00011605330655584112, + -0.0019268498290330172, + 0.1794542521238327 + ], + "std": [ + 0.24828903377056122, + 0.24205198884010315, + 0.0575384683907032, + 0.0, + 0.8297363519668579, + 0.18513676524162292, + 0.12388711422681808, + 0.15826764702796936, + 0.0306069478392601, + 0.030178777873516083, + 0.03517832234501839, + 0.9833850860595703 + ], + "min": [ + -1.0, + -1.0, + -0.46000000834465027, + 0.0, + -1.0, + -1.0, + -0.8071428537368774, + -0.7357142567634583, + -0.3199999928474426, + -0.4342857003211975, + -0.5285714268684387, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 0.7171428799629211, + 0.0, + 1.0, + 0.949999988079071, + 1.0, + 0.8785714507102966, + 0.37714284658432007, + 0.38857144117355347, + 0.3257142901420593, + 1.0 + ], + "q01": [ + -0.2928571403026581, + -0.8071428537368774, + -0.11142857372760773, + 0.0, + -1.0, + -0.7285714149475098, + -0.4357142746448517, + -0.33571428060531616, + -0.08571428805589676, + -0.11714285612106323, + -0.1542857140302658, + -1.0 + ], + "q99": [ + 1.0, + 0.9862722754478455, + 0.3171428442001343, + 0.0, + 1.0, + 0.4357142746448517, + 0.4285714328289032, + 0.5142857432365417, + 0.14000000059604645, + 0.10285714268684387, + 0.09428571164608002, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.014607040211558342 + ], + "std": [ + 0.11997364461421967 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0008904643473215401 + ], + "std": [ + 0.029827360063791275 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 28.88457489013672 + ], + "std": [ + 17.552410125732422 + ], + "min": [ + 0.0 + ], + "max": [ + 78.1500015258789 + ], + "q01": [ + 0.550000011920929 + ], + "q99": [ + 67.1039047241211 + ] + }, + "frame_index": { + "mean": [ + 577.6914672851562 + ], + "std": [ + 351.0481872558594 + ], + "min": [ + 0.0 + ], + "max": [ + 1563.0 + ], + "q01": [ + 11.0 + ], + "q99": [ + 1342.078125 + ] + }, + "episode_index": { + "mean": [ + 51.711326599121094 + ], + "std": [ + 29.973237991333008 + ], + "min": [ + 0.0 + ], + "max": [ + 103.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 102.0 + ] + }, + "index": { + "mean": [ + 58396.0 + ], + "std": [ + 33715.234375 + ], + "min": [ + 0.0 + ], + "max": [ + 116792.0 + ], + "q01": [ + 1167.919921875 + ], + "q99": [ + 115624.078125 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/BowlAndCup/20250715/lerobot/meta/tasks.jsonl b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e419f3050b115d48c429461fd445b44e54f3ce8 --- /dev/null +++ b/pretrain/composite/BowlAndCup/20250715/lerobot/meta/tasks.jsonl @@ -0,0 +1,2 @@ +{"task_index": 0, "task": "Place the cup inside the bowl on the dining table and move the bowl to any counter."} +{"task_index": 1, "task": "BowlAndCup"} diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cb8f330907fa4c37279ad066839d25861a155d2 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 52, + "style_id": 25, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.2650000000000001, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.2650000000000001, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_1/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2650000000000001, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_4_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4623611135415358, + -2.3150337164550696, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..809c8e075c2859f2c942c528a6be97d792fd2455 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,604 @@ +{ + "layout_id": 35, + "style_id": 39, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 2.2931, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.2931, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall002/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.2931, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.209266492044833, + -2.094830492375118, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e719193653b8c26b3d6d7478372fb12328301da --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 50, + "style_id": 17, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.587381, + 1.266185 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.587381, + 1.266185 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.587381, + 1.266185 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.017072096898502, + -2.856446925333506, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414199932886993 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96479ee698d6a2a13cf6a787d97acc5aa896bdae --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 46, + "style_id": 40, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 2.163289884379143, + 1.300035 + ], + "offset": [ + 1.0705710578104282, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_front_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.163289884379143, + 1.300035 + ], + "offset": [ + 1.0705710578104282, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_front_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.163289884379143, + 1.300035 + ], + "offset": [ + 1.0705710578104282, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "counter_2_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.039546128179349, + -2.706478060382894, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..742f17e9794bda34ed65023ca555e4b78e45d4fa --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 60, + "style_id": 32, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_6_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.007743, + 0.650004 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_6_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.007743, + 0.650004 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_10/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_6_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.007743, + 0.650004 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_6_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.9967033819545454, + -1.2376717553286551, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.714033083301871e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9f2993a7c72dd0aa6817a8879b5acf1b4d326dc9 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 43, + "style_id": 18, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.413194, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.413194, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.413194, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.201406739352233, + -3.052317361163917, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a0e405823123a118591877804246a2135e56d18 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 57, + "style_id": 31, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -2.3084460269922196, + -4.393318765855171, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e70c16167696051fbae25e34bf260ed5d1805aa6 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 18, + "style_id": 43, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 2.147191043625498, + 0.65 + ], + "offset": [ + -0.8764044781872509, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.147191043625498, + 0.65 + ], + "offset": [ + -0.8764044781872509, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.147191043625498, + 0.65 + ], + "offset": [ + -0.8764044781872509, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2164228582600685, + -1.6096055723007618, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b68da56f2a1fadb9b3be6d6d212473a2e8ab0cc --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,558 @@ +{ + "layout_id": 53, + "style_id": 16, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 2.476944, + 1.259164 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.476944, + 1.259164 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_2/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.476944, + 1.259164 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8108547537745134, + -1.9676235705410872, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141430444834092 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..800ce90e66e1548adcc3500737a5e4854edadfe0 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 46, + "style_id": 60, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 2.750006, + 1.039938 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.750006, + 1.039938 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.750006, + 1.039938 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7287559782518473, + -5.412371123652696, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001550721903551544 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5569a60ed33318611339037701f182112286ce17 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 54, + "style_id": 19, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_14/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_11/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.321192226606976, + -0.9695856835965065, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..791960f23dfa428175ac157feb533bd5f7cb8c5d --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 13, + "style_id": 26, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.45, + 0.81 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.45, + 0.81 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.45, + 0.81 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_12/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "dining_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3023793523282803, + -2.083598529468576, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d9a2d13fe918023926b6f349f97fd432002b2912 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 57, + "style_id": 22, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_0/model.xml" + }, + "reset_region": { + "size": [ + 1.11074472, + 0.65 + ], + "offset": [ + -0.82026964, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.11074472, + 0.65 + ], + "offset": [ + -0.82026964, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.11074472, + 0.65 + ], + "offset": [ + -0.82026964, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.7935145321064859, + -1.152723595085369, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b136dff728a6128728a20df75c39b77077ae298 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 19, + "style_id": 37, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_0/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.304762536616108, + -1.4902624315274045, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e58a89a1261b806bd39f438330a34fd584d86b11 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 31, + "style_id": 12, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.8099958858441019, + 0.65 + ], + "offset": [ + 1.3450030570779492, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.8099958858441019, + 0.65 + ], + "offset": [ + 1.3450030570779492, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_16/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.8099958858441019, + 0.65 + ], + "offset": [ + 1.3450030570779492, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.874581312014741, + -6.096214072991927, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff6c1ade033080f19d3ce6af8d07b3761aa75193 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 32, + "style_id": 23, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.318509150730902, + -3.6664910065210408, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76b73f8221c59630720c1f2ef060481bdadae34f --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 31, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.631255888010492, + 1.3 + ], + "offset": [ + 1.2343535559947538, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.631255888010492, + 1.3 + ], + "offset": [ + 1.2343535559947538, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_10/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.631255888010492, + 1.3 + ], + "offset": [ + 1.2343535559947538, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0898297191163464, + -3.069044323615435, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1aa5f7168e09a32e64555e664dbba2b8427c176 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 13, + "style_id": 56, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.45, + 0.81 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.45, + 0.81 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.45, + 0.81 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "dining_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2794529516847544, + -2.105190024929233, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9495caf6eb2631cf3cbed10b45a96c65c2a4da70 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 49, + "style_id": 42, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_3_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6871519465470248, + -4.748067884652293, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712237632784059 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2872fcfbe21b174f746dec6ddc995c5985392d61 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 32, + "style_id": 51, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall005/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall004/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2745385866548524, + -3.47001850807565, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b48f6b846c523245296be2f6c3787c5de6e66b9 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 58, + "style_id": 34, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.700110034487567, + 0.65 + ], + "offset": [ + -0.7817449827562164, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.7210300344875669, + 0.65 + ], + "offset": [ + 1.2712849827562167, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_14/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.7210300344875669, + 0.65 + ], + "offset": [ + 1.2712849827562167, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.537580649921732, + -0.8075182265145067, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92ebf9f44703d38bcd61a8bbd55ca67a8b2e84a5 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 29, + "style_id": 52, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3754390827484295, + 1.8 + ], + "offset": [ + 1.1347804586257857, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.3754390827484295, + 1.8 + ], + "offset": [ + 1.1347804586257857, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3754390827484295, + 1.8 + ], + "offset": [ + 1.1347804586257857, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2224209046566634, + -5.420142019113073, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.4228548662085245e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d6d505c562457d9ff0e3ec982f5f2f2e854fbe93 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,613 @@ +{ + "layout_id": 22, + "style_id": 13, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 2.363384747849174, + 0.65 + ], + "offset": [ + -1.335807626075413, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.363384747849174, + 0.65 + ], + "offset": [ + -1.335807626075413, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.363384747849174, + 0.65 + ], + "offset": [ + -1.335807626075413, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8494901309960694, + -3.8302389183862644, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce4380ee873666045d0e657b98a73e0054c5a5b2 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 52, + "style_id": 49, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_16/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8018945057101551, + -1.1874289634643138, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..709b2610b98a841e87c708c900d5721d61ce4a01 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 52, + "style_id": 50, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5566969878749717, + 0.65 + ], + "offset": [ + 0.3491515060625141, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5566969878749717, + 0.65 + ], + "offset": [ + 0.3491515060625141, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5566969878749717, + 0.65 + ], + "offset": [ + 0.3491515060625141, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_4_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.501837706711996, + -2.1761953359140414, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77e1aecbfe82c098311654898a52bfc172c4d96d --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 49, + "style_id": 47, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 2.486196, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.486196, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_11/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.486196, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.103454510194034, + -1.1079741282434612, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bee9e337cdc9d07c1e6259b6447467b7303c808f --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 49, + "style_id": 41, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_3_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7051451224655656, + -4.7096613405571235, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712237632784059 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5bbefbc09df7d80cbb20132d5b03b8885c40a4bb --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 34, + "style_id": 56, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5794101819379025, + 0.65 + ], + "offset": [ + -0.9323449090310488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.5794101819379025, + 0.65 + ], + "offset": [ + -0.9323449090310488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.5794101819379025, + 0.65 + ], + "offset": [ + -0.9323449090310488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7686896184952355, + -3.578682868126332, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c23b99786aa3989dd015781b8868cd870140767 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 17, + "style_id": 39, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7408988675502197, + -2.0153371654523653, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.71238880553912 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf76993c72aed29f79806389dea92c02025c3c40 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,604 @@ +{ + "layout_id": 56, + "style_id": 46, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_15/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.915618980425159, + -1.3663157551886882, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..caead86b4921abf0060e95424bd2f8f94ad74046 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,565 @@ +{ + "layout_id": 42, + "style_id": 25, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.05844, + 1.242 + ], + "offset": [ + -0.77878, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.05844, + 1.242 + ], + "offset": [ + -0.77878, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.05844, + 1.242 + ], + "offset": [ + -0.77878, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.508820169185206, + -5.038037617920145, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c3b69b474e3a052745f7b2a1288a4480cfb218 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,644 @@ +{ + "layout_id": 20, + "style_id": 34, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_2", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 2.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_island_group_2", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_14/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_island_group_2", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8197114416206066, + -1.5747201479202952, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3b5342a88c1511d106ec63383c3dcf7b8f87672 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,604 @@ +{ + "layout_id": 56, + "style_id": 50, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 2.579347, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.579347, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.579347, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.709040325470749, + -0.7815780951590704, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09627fe166a1a031675f34856aedfbe35ad3aa90 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 44, + "style_id": 40, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.043768662617788, + -4.520001955367053, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b47b67b020aa75b32bddd557f32cd2be40ab79e8 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,622 @@ +{ + "layout_id": 15, + "style_id": 51, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_12/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.087109381522683, + -5.663170101017512, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3155a065b2605935ab24fe3a618abaa2142a001 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 33, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.373273648010492, + 1.1661 + ], + "offset": [ + 1.2133631759947536, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.753273648010492, + 1.1661 + ], + "offset": [ + -1.023363175994754, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_14/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.373273648010492, + 1.1661 + ], + "offset": [ + 1.2133631759947536, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5454932569182924, + -1.7622140220412976, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9521b5dd68983732eef110b192ceaba989092b23 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,712 @@ +{ + "layout_id": 39, + "style_id": 36, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7636173631336025, + -5.535098139739632, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..625fe16737fc3ddba3379f14848e69b4b4713286 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 31, + "style_id": 53, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.5710019433331164, + 1.3 + ], + "offset": [ + 1.2644805283334417, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.5710019433331164, + 1.3 + ], + "offset": [ + 1.2644805283334417, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.5710019433331164, + 1.3 + ], + "offset": [ + 1.2644805283334417, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.123941975730755, + -3.1539164235572805, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14e19573b0ceaaca43b3a6e8b48717aedd0b6de5 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 31, + "style_id": 26, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.8562069859761803, + 1.3 + ], + "offset": [ + -1.1218780070119099, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.8562069859761803, + 1.3 + ], + "offset": [ + -1.1218780070119099, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.8562069859761803, + 1.3 + ], + "offset": [ + -1.1218780070119099, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall006/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0834075348823724, + -5.424935768213063, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..594cf36aeceabe0b2380c402103cbe6c20949e56 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 57, + "style_id": 15, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1557319003869253, + 0.65 + ], + "offset": [ + -0.7977760498065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1557319003869253, + 0.65 + ], + "offset": [ + -0.7977760498065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1557319003869253, + 0.65 + ], + "offset": [ + -0.7977760498065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.7908352261577859, + -1.130059246854806, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a95d7aaa5914246ab1e3aa0553fffa7114eb2e97 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 32, + "style_id": 54, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2503506003217746, + 0.65 + ], + "offset": [ + -0.47481969983911276, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.2503506003217746, + 0.65 + ], + "offset": [ + -0.47481969983911276, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.2503506003217746, + 0.65 + ], + "offset": [ + -0.47481969983911276, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0244049633585566, + -0.8188633477261866, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aaeaa759699e3bf819b457ff698bb9dea85594ca --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 54, + "style_id": 22, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.5043628428669065, + -0.9137750128100312, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f01eb5ba971b4a3bcca9d500db1bdfc8b86e93bd --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,556 @@ +{ + "layout_id": 47, + "style_id": 42, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "counter_03_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.1912487999999999, + 0.649981 + ], + "offset": [ + -0.8012496, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_03_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.6324991999999999, + 0.649981 + ], + "offset": [ + 1.0806244, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall005/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_03_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.6324991999999999, + 0.649981 + ], + "offset": [ + 1.0806244, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "counter_03_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.130869264599881, + -2.009276872200928, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..19522840acdd514f7325e5465cd0e0aff684d698 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 12, + "style_id": 28, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall004/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7265135337717357, + -3.816191204803901, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b080e0cc3b1ad3a42270a2245da0e36039d68772 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,526 @@ +{ + "layout_id": 14, + "style_id": 60, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.914, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.914, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.914, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_12/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7440325573838826, + -0.7792349830997948, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50039343436224b1e3e231f9b302046d5ccb6ec6 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,572 @@ +{ + "layout_id": 46, + "style_id": 52, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 2.750006, + 1.039938 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.750006, + 1.039938 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_12/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.750006, + 1.039938 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.634560806285756, + -5.424042011373843, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001550721903551544 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d80a18dc92324b328215c1e4be588f57963246 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,607 @@ +{ + "layout_id": 35, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.225271648010492, + 0.65 + ], + "offset": [ + -0.733914175994754, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.225271648010492, + 0.65 + ], + "offset": [ + -0.733914175994754, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall006/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.225271648010492, + 0.65 + ], + "offset": [ + -0.733914175994754, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.562407590515855, + -1.3592690714015507, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de74bf2751f976435e6e8e9ab84babad648b6731 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 19, + "style_id": 40, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall006/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3954705137266923, + -1.6552198959123416, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7d5463772de6addfbbf0cd458e636cf8e3630f4 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,626 @@ +{ + "layout_id": 17, + "style_id": 56, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.760967758738559, + -2.0102040915064934, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.71238880553912 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86ac9a9f947109a80a2328863a136ba6dfd1a9b6 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 52, + "style_id": 47, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4131664140281643, + 0.65 + ], + "offset": [ + 0.4209167929859179, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.4131664140281643, + 0.65 + ], + "offset": [ + 0.4209167929859179, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4131664140281643, + 0.65 + ], + "offset": [ + 0.4209167929859179, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_4_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4950683839544183, + -2.3619225424703987, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aca867515fe00798bd389d4b241814ed253c0109 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,555 @@ +{ + "layout_id": 19, + "style_id": 16, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_0/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_14/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7157821605026724, + -2.453812377229623, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..508e47ade09540cfe5c682fb5f89039840fe774d --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 59, + "style_id": 58, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_10/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_3_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.04937766527102, + -0.9572423513124727, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4eb0f649c7ceabbea72946022edff097cd42d448 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 27, + "style_id": 29, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4050000000000002, + 0.65 + ], + "offset": [ + 0.5575000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4050000000000002, + 0.65 + ], + "offset": [ + 0.5575000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4050000000000002, + 0.65 + ], + "offset": [ + 0.5575000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.596221635425458, + -0.8047613160595818, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8fe395316812c246dbeb5151676a78c09e04e818 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 36, + "style_id": 56, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.5362287255230029, + -4.533701595966219, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6a7dccbf549f69115996643389669fb7c37734 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 41, + "style_id": 17, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_2", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_2", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.386903228771643, + -2.246148095423722, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.71238898038469 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3accf49fd8fd65d3da7a23b3db03f7d4e2d6ecae --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,604 @@ +{ + "layout_id": 56, + "style_id": 56, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_8_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.147992, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_8_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.147992, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_16/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_8_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.147992, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_8_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.915911306962601, + -4.676304142827467, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a4689413263d66d3932566d6c4c30d764239c2c --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 60, + "style_id": 44, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4972400218688844, + 0.650002 + ], + "offset": [ + -1.0264489890655577, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.142226221868884, + 0.650002 + ], + "offset": [ + 1.2039558890655584, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.142226221868884, + 0.650002 + ], + "offset": [ + 1.2039558890655584, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3401785380150466, + -2.473345132001879, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6942bb4cc71389c0bf691aa378f31b3000621ae8 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,557 @@ +{ + "layout_id": 47, + "style_id": 13, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "counter_03_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2452085478491735, + 0.649981 + ], + "offset": [ + -0.7742697260754132, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_03_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6864589478491735, + 0.649981 + ], + "offset": [ + 1.0536445260754133, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall006/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_03_right_group_1", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6864589478491735, + 0.649981 + ], + "offset": [ + 1.0536445260754133, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_12/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "counter_03_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.114477044514703, + -2.1547843993539906, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f7528a095cb7f0b2b53fda143cb181db77cd4d3 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,599 @@ +{ + "layout_id": 23, + "style_id": 39, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.706, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.706, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall004/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.706, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_12/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7898027992312739, + -3.5625143066611766, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5be8442778c596f20c0579138d3a511ffd9d029d --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 36, + "style_id": 26, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.05, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.05, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.05, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1719076032363214, + -2.36617353671734, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d80806531010a321e6dfd4aea6ff33bc50f7b3c4 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,578 @@ +{ + "layout_id": 51, + "style_id": 23, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_12/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9655122717945566, + -0.8087743143354775, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d6441cbd4f3f05eaae8824f596fe8cfa2c2ca79b --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 33, + "style_id": 20, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.8514254767844305, + -0.02882649530153042, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe6bacbb24358a83767e10936adc8e86b9dc38bc --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,733 @@ +{ + "layout_id": 25, + "style_id": 55, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_0/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_12/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7713022676238215, + -3.5769771525309797, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3eeb72c22acbd2ac95743689e4394531f76f048f --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 31, + "style_id": 27, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.727334376948582, + 1.3 + ], + "offset": [ + -1.1863143115257089, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.727334376948582, + 1.3 + ], + "offset": [ + -1.1863143115257089, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.727334376948582, + 1.3 + ], + "offset": [ + -1.1863143115257089, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_14/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.081005686393934, + -5.397867696787651, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1180162f80fd5aa21d00b31b6921ec7d25e30fc --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 52, + "style_id": 25, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.2650000000000001, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.2650000000000001, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.2650000000000001, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_4_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4748124799916726, + -2.383539660899584, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..528ee6b7924a30eb6ffbd78ab79d8b14856c2301 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 40, + "style_id": 53, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.5896, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.5896, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.5896, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2385834384351795, + -0.8187809541834963, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bcdc9c3e1820c7b878503a83c58fe04ffb6a5e9 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 16, + "style_id": 15, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 2.83, + 0.976 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.83, + 0.976 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall004/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.83, + 0.976 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7766681062765446, + -3.800282459146657, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159245077386 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f78778a3ddb60eecd065cd8b7cbd35fdbf3a48db --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 50, + "style_id": 19, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.587381, + 1.266185 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.587381, + 1.266185 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.587381, + 1.266185 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.985448962360112, + -2.9255286474342848, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414199932886993 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5eb1390a48cfb9028819a6c029003874a1fb87 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 36, + "style_id": 52, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_15/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.5812447265785246, + -4.537951334678882, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ae47ba5b6dd96bab88e46c9bcf45f86f325a759 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,733 @@ +{ + "layout_id": 25, + "style_id": 23, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall006/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7636294432159243, + -3.6381115577611554, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c84b0560b4e57e82bd2c9fb9dfce36a0f539bda --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,562 @@ +{ + "layout_id": 21, + "style_id": 36, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_15/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5730757519430756, + -2.0387825350417605, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29d94adc6269f3b7217c0b0ff374fbde523bbdd2 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 37, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.116726621740107, + 0.650008 + ], + "offset": [ + -0.8765551891299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.116726621740107, + 0.650008 + ], + "offset": [ + -0.8765551891299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_15/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.116726621740107, + 0.650008 + ], + "offset": [ + -0.8765551891299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8032210134101894, + -3.210449234943845, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67fa5b1fe1e7dc4a17a7329d3bb8ff2540b382a1 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 36, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.05, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.05, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall004/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.05, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.144964064115643, + -2.3068686054676433, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..598ba6ab228efb39cef5c497dd026e7df99b2f3c --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,608 @@ +{ + "layout_id": 24, + "style_id": 58, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.5625466106143344, + 1.95 + ], + "offset": [ + -1.1187266946928327, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5625466106143344, + 1.95 + ], + "offset": [ + -1.1187266946928327, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_2/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5625466106143344, + 1.95 + ], + "offset": [ + -1.1187266946928327, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.640543189129996, + -1.8090936117328091, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d278c588e3ea42f59f84ac82c64a2e642f11a9e6 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,647 @@ +{ + "layout_id": 12, + "style_id": 30, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4591935460768135, + 0.65 + ], + "offset": [ + -1.2074032269615933, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.8001055460768134, + 0.65 + ], + "offset": [ + 1.0369472269615934, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_15/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.8001055460768134, + 0.65 + ], + "offset": [ + 1.0369472269615934, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.591372361113966, + -0.8062969967824692, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1c7dcb16c87d4c67af15425da8e48b4d94a1716 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,526 @@ +{ + "layout_id": 59, + "style_id": 21, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_19/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.957716131950809, + -0.8895142012058266, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16b047d15b42d8d58f225b20736cd795fea33c06 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 28, + "style_id": 46, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4289948858441017, + 0.65 + ], + "offset": [ + -1.154502557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.4289948858441017, + 0.65 + ], + "offset": [ + -1.154502557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4289948858441017, + 0.65 + ], + "offset": [ + -1.154502557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall005/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.379503284287512, + -1.7201693269821094, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6037e447ecea89fc77140be6ccbb04c93b8f4ffd --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,604 @@ +{ + "layout_id": 43, + "style_id": 16, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 1.727248209884344, + 0.65 + ], + "offset": [ + 0.40887589505782795, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.727248209884344, + 0.65 + ], + "offset": [ + 0.40887589505782795, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.727248209884344, + 0.65 + ], + "offset": [ + 0.40887589505782795, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall005/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5664949009557225, + -1.603240704607837, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba889fe68e2ba53a3c1b8f19085b45546b9981b3 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,510 @@ +{ + "layout_id": 44, + "style_id": 13, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_10/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_15/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.0373158738971595, + -4.514823345549156, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04f9acdba0a07ca369409ca465d90114bdba09ec --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 18, + "style_id": 46, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3599948858441018, + 0.65 + ], + "offset": [ + -1.120002557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.3599948858441018, + 0.65 + ], + "offset": [ + -1.120002557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_16/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.3599948858441018, + 0.65 + ], + "offset": [ + -1.120002557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8058442932882981, + -5.310626573077691, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000104/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86546e2764452d0c3c869ce857c3a8d5eec4c25a --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 29, + "style_id": 54, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1003020835567012, + -0.7931671708009465, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000105/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000105/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a593fcae02b02e38c5caf004f0df3e8202c14af6 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 30, + "style_id": 44, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plate to the tray.", + "fixture_refs": { + "counter": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.094563348430293, + -4.142917476703439, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000106/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000106/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e16d78a1296c8939cf1c67b8041d221c2b0b290 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000106/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 38, + "style_id": 30, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.5059095460768133, + 0.65 + ], + "offset": [ + -1.1760452269615933, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.5059095460768133, + 0.65 + ], + "offset": [ + -1.1760452269615933, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5059095460768133, + 0.65 + ], + "offset": [ + -1.1760452269615933, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall004/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.6970228443157203, + -0.821556333221436, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000108/ep_meta.json b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000108/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e812dea9f17dacbcf12c3a6eea5e4d20dc802a6 --- /dev/null +++ b/pretrain/composite/DessertUpgrade/20250724/lerobot/extras/episode_000108/ep_meta.json @@ -0,0 +1,581 @@ +{ + "layout_id": 16, + "style_id": 60, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "tray", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 2.83, + 0.976 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.83, + 0.976 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert1", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert1_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_11/model.xml" + } + }, + { + "name": "dessert2_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "receptacle", + "size": [ + 1.0, + 0.4 + ], + "pos": [ + 0, + -1 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.83, + 0.976 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dessert2", + "obj_groups": "sweets", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "dessert2_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "sweets" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the dessert items from the plates to the tray.", + "fixture_refs": { + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7669510981474352, + -3.5819189271162433, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159245077386 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/dataset_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1993f0fcfd4642a2018e96c2c168fbd38e7e2bb1 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "7-30-2025", + "env": "MealPrepStaging", + "env_args": { + "type": 1, + "env_name": "MealPrepStaging", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "MealPrepStaging", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "MealPrepStaging", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "22:26:33", + "total": 141764 +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1bb2e84f298627d8868bad12dfc95abcaf25742e --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 12, + "style_id": 41, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8840878373000383, + 0.65 + ], + "offset": [ + -0.782956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 0.8840878373000383, + 0.65 + ], + "offset": [ + 0.782956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8840878373000383, + 0.65 + ], + "offset": [ + -0.782956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8840878373000383, + 0.65 + ], + "offset": [ + -0.782956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the corn and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8146528953844102, + -1.8663590657817146, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1c6f657d8e5717603828029ba70344da89e8a38 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 31, + "style_id": 29, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + -1.3330014821542977, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + 1.3330014821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + -1.3330014821542977, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + 1.3330014821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the eggplant and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.872457358222824, + -4.889543390632324, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0918f7fcb318d3ddfadf95bdbb86b6db20ee1162 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 34, + "style_id": 39, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.722578, + 0.65 + ], + "offset": [ + -0.8607610000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.1715220000000004, + 0.65 + ], + "offset": [ + 1.1362890000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "size": [ + 1.722578, + 0.65 + ], + "offset": [ + -0.8607610000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "size": [ + 1.722578, + 0.65 + ], + "offset": [ + -0.8607610000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the bell pepper and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7794589303080085, + -2.236684320110497, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f8c8a07a5e52da3992cdf24c8fccf829c15cbd7 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 29, + "style_id": 28, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.2838422152651123, + 0.65 + ], + "offset": [ + -1.1080788923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.2838422152651123, + 0.65 + ], + "offset": [ + 1.1080788923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06405487999999998, + 0.12499897124999998, + 0.06664654999999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2838422152651123, + 0.65 + ], + "offset": [ + 1.1080788923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 1.2838422152651123, + 0.65 + ], + "offset": [ + -1.1080788923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the onion and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.1582316263922738, + -4.144086396986529, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10e728cfd14f5a1a2cf6ea7178f42c32ce5a4c8f --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,626 @@ +{ + "layout_id": 17, + "style_id": 50, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.767498035691405, + 0.65 + ], + "offset": [ + -1.2997509821542974, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.767498035691405, + 0.65 + ], + "offset": [ + 1.2997509821542974, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.05391862382619939, + 0.07085656569409443, + 0.054317850551971095 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "size": [ + 1.767498035691405, + 0.65 + ], + "offset": [ + 1.2997509821542974, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "size": [ + 1.767498035691405, + 0.65 + ], + "offset": [ + 1.2997509821542974, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the mushroom and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8429588235236456, + -0.7650919558692005, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58e5ec9f8b1a56083435abce08628d302d40ee2c --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,713 @@ +{ + "layout_id": 39, + "style_id": 16, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.9184971639703602, + 1.3 + ], + "offset": [ + -0.8407514180148199, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.9184971639703602, + 1.3 + ], + "offset": [ + 0.8407514180148199, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9184971639703602, + 1.3 + ], + "offset": [ + -0.8407514180148199, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "size": [ + 0.9184971639703602, + 1.3 + ], + "offset": [ + 0.8407514180148199, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the sweet potato and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.9033018787679152, + -3.6546034741411466, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e376e1e15a290e8d96761b71836df8969385d998 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 34, + "style_id": 13, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.1056098373000385, + 0.65 + ], + "offset": [ + 1.1692450813499808, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.07927373650812587, + 0.09602077883361064, + 0.08800877666079267 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the potato and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8104481630589515, + -2.212757208227061, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..472c1820e3e6e373474852cb18d1add2179910a6 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,712 @@ +{ + "layout_id": 39, + "style_id": 17, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.9870334053628995, + 1.3 + ], + "offset": [ + -0.8064832973185503, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9870334053628995, + 1.3 + ], + "offset": [ + 0.8064832973185501, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9870334053628995, + 1.3 + ], + "offset": [ + 0.8064832973185501, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "size": [ + 0.9870334053628995, + 1.3 + ], + "offset": [ + 0.8064832973185501, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the bell pepper and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.570024099190753, + -3.692963059001543, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13b201052c8cc46d940cebf53755b5db99229fc3 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,585 @@ +{ + "layout_id": 18, + "style_id": 51, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3278931541926153, + 0.65 + ], + "offset": [ + -1.1360534229036925, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.3278931541926153, + 0.65 + ], + "offset": [ + 1.1360534229036927, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3278931541926153, + 0.65 + ], + "offset": [ + -1.1360534229036925, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 1.3278931541926153, + 0.65 + ], + "offset": [ + 1.1360534229036927, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7962526059842435, + -4.226446505937598, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..247502a78eb8459049fd85cab56193bf362630d4 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 42, + "style_id": 17, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.0208334053628996, + 0.65 + ], + "offset": [ + -0.7720832973185502, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9182334053628993, + 0.65 + ], + "offset": [ + 0.8233832973185506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9182334053628993, + 0.65 + ], + "offset": [ + 0.8233832973185506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "size": [ + 0.9182334053628993, + 0.65 + ], + "offset": [ + 0.8233832973185506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the squash and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.383400984213558, + -2.1047681491145704, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd4429216c5b15669cad48913ab189a6a0bebdcc --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,624 @@ +{ + "layout_id": 15, + "style_id": 32, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + -0.8580009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + 0.8580009821542978, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + 0.8580009821542978, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + -0.8580009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the sweet potato and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.781499237527488, + -3.120998151426636, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02d849dbef0bb161a95cb9f28e216c1fe196d128 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,582 @@ +{ + "layout_id": 28, + "style_id": 15, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4508321819379026, + 0.65 + ], + "offset": [ + -1.1435839090310487, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4508321819379026, + 0.65 + ], + "offset": [ + 1.143583909031049, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4508321819379026, + 0.65 + ], + "offset": [ + -1.1435839090310487, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4508321819379026, + 0.65 + ], + "offset": [ + -1.1435839090310487, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the corn and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1871557129964767, + -1.6983246544098949, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb8507cdf50eb3b462ffed294ea3378cad8e3f0a --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 34, + "style_id": 59, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.5815760356914048, + 0.65 + ], + "offset": [ + -0.9312619821542977, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0305200356914053, + 0.65 + ], + "offset": [ + 1.2067899821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0305200356914053, + 0.65 + ], + "offset": [ + 1.2067899821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 1.0305200356914053, + 0.65 + ], + "offset": [ + 1.2067899821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the bell pepper and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8088723252032299, + -2.3921412169676723, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..309d918d9f7dfa60c002b1e952aa00c36acc2ec7 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,713 @@ +{ + "layout_id": 39, + "style_id": 29, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + -0.8580009821542975, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + 0.8580009821542978, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + 0.8580009821542978, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + -0.8580009821542975, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the squash and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.697626077586473, + -3.6485547846972053, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a5073e82f6cc1fd242eafe3e9da2eb12cad23cb --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,714 @@ +{ + "layout_id": 39, + "style_id": 49, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8054613596487915, + 1.3 + ], + "offset": [ + -0.8972693201756043, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8054613596487915, + 1.3 + ], + "offset": [ + 0.8972693201756046, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8054613596487915, + 1.3 + ], + "offset": [ + -0.8972693201756043, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8054613596487915, + 1.3 + ], + "offset": [ + -0.8972693201756043, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the broccoli and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7076368766376455, + -3.6497712606802466, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da572d5fbb53ccdcdcd7772816a7637d660875fb --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 34, + "style_id": 51, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.5254711541926151, + 0.65 + ], + "offset": [ + -0.9593144229036925, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9744151541926156, + 0.65 + ], + "offset": [ + 1.2348424229036923, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5254711541926151, + 0.65 + ], + "offset": [ + -0.9593144229036925, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "size": [ + 0.9744151541926156, + 0.65 + ], + "offset": [ + 1.2348424229036923, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the squash and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7848522538746326, + -2.392191464562759, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e1913e47d38aa5c994d5b3fed54062ef3720d20 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 34, + "style_id": 12, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.5575728858441016, + 0.65 + ], + "offset": [ + -0.9432635570779493, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.006516885844102, + 0.65 + ], + "offset": [ + 1.2187915570779488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "size": [ + 1.5575728858441016, + 0.65 + ], + "offset": [ + -0.9432635570779493, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "size": [ + 1.006516885844102, + 0.65 + ], + "offset": [ + 1.2187915570779488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the carrot and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.781311012623899, + -2.365288490101491, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36accce150679ff681af902d45427f40ff703ec2 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,628 @@ +{ + "layout_id": 17, + "style_id": 15, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.7653321819379026, + 0.65 + ], + "offset": [ + -1.3008339090310486, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7653321819379026, + 0.65 + ], + "offset": [ + 1.300833909031049, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.07535299319999997, + 0.08999119169999995, + 0.08596342619999996 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7653321819379026, + 0.65 + ], + "offset": [ + 1.300833909031049, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7653321819379026, + 0.65 + ], + "offset": [ + -1.3008339090310486, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the potato and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9229880095073595, + -0.8069771804140833, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b40cf0b31fccca4b3367ca055ca7179a74d2389 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 35, + "style_id": 13, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.039087837300038, + 0.65 + ], + "offset": [ + -0.8604560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.039087837300038, + 0.65 + ], + "offset": [ + 0.8604560813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.07388735999999997, + 0.09999999999999996, + 0.07365630199999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml" + }, + "reset_region": { + "size": [ + 1.039087837300038, + 0.65 + ], + "offset": [ + -0.8604560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "size": [ + 1.039087837300038, + 0.65 + ], + "offset": [ + 0.8604560813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the potato and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7905559078254629, + -1.496622650735207, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4cee039b7e5c487fd02e08bae628f7dd47fd7130 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,614 @@ +{ + "layout_id": 22, + "style_id": 30, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 0.5928422152651122, + 0.85 + ], + "offset": [ + -0.7625788923674439, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "right", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 0.5928422152651122, + 0.85 + ], + "offset": [ + 0.7625788923674439, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.0671310922831356, + 0.09899880177224696, + 0.06861402506961725 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5928422152651122, + 0.85 + ], + "offset": [ + -0.7625788923674439, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5928422152651122, + 0.85 + ], + "offset": [ + 0.7625788923674439, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the avocado and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_dining_area_group_1", + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0522523502929344, + -2.402992876434884, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2725bd68d766cedb61af7d44e3cfddb1d145277 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,581 @@ +{ + "layout_id": 28, + "style_id": 44, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.550808121740107, + 0.65 + ], + "offset": [ + -1.0935959391299463, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.550808121740107, + 0.65 + ], + "offset": [ + 1.0935959391299461, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.03495, + 0.107888, + 0.044468 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + }, + "reset_region": { + "size": [ + 1.550808121740107, + 0.65 + ], + "offset": [ + -1.0935959391299463, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "size": [ + 1.550808121740107, + 0.65 + ], + "offset": [ + -1.0935959391299463, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon wedge and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.253381921963012, + -1.7249245788889116, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2e7583d4b28ba480a1729c20d393554367554bc --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 29, + "style_id": 29, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.333998035691405, + 0.65 + ], + "offset": [ + -1.0830009821542976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.333998035691405, + 0.65 + ], + "offset": [ + 1.0830009821542972, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "size": [ + 1.333998035691405, + 0.65 + ], + "offset": [ + 1.0830009821542972, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "size": [ + 1.333998035691405, + 0.65 + ], + "offset": [ + -1.0830009821542976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lime and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.13605159804663391, + -4.1902645242322665, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b25827149f32782c2784161c6942189e39849c7b --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 31, + "style_id": 39, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.9750010000000002, + 0.65 + ], + "offset": [ + -1.2625005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.9750010000000002, + 0.65 + ], + "offset": [ + 1.2625005000000007, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "size": [ + 1.9750010000000002, + 0.65 + ], + "offset": [ + 1.2625005000000007, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "size": [ + 1.9750010000000002, + 0.65 + ], + "offset": [ + -1.2625005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the tomato and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.906445008909306, + -4.633159999132312, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8db6bbee06005bd52749487b0a21b316231b03a5 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 17, + "style_id": 22, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.7989382524900397, + 0.65 + ], + "offset": [ + -1.2840308737549802, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7989382524900397, + 0.65 + ], + "offset": [ + 1.2840308737549795, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "size": [ + 1.7989382524900397, + 0.65 + ], + "offset": [ + -1.2840308737549802, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "size": [ + 1.7989382524900397, + 0.65 + ], + "offset": [ + 1.2840308737549795, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the sweet potato and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8268198710868644, + -0.812724181820229, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5615999c9d6fbe15783beaa2ff09524fb892506b --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 42, + "style_id": 54, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.9928878373000383, + 0.65 + ], + "offset": [ + -0.7860560813499808, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.890287837300038, + 0.65 + ], + "offset": [ + 0.837356081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "size": [ + 0.890287837300038, + 0.65 + ], + "offset": [ + 0.837356081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "size": [ + 0.890287837300038, + 0.65 + ], + "offset": [ + 0.837356081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the tomato and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.39273802655201, + -1.8806470074372132, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9b7d1a94e379a416ae15d49faed0ee59671ef0f --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,613 @@ +{ + "layout_id": 22, + "style_id": 43, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 0.5898081950324071, + 0.85 + ], + "offset": [ + -0.7640959024837963, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "right", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5898081950324071, + 0.85 + ], + "offset": [ + 0.7640959024837963, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5898081950324071, + 0.85 + ], + "offset": [ + 0.7640959024837963, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "size": [ + 0.5898081950324071, + 0.85 + ], + "offset": [ + -0.7640959024837963, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the bell pepper and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_dining_area_group_1", + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.143581359969387, + -2.3699464826717045, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21074604f3b4d43d3c71c9d880e96dd65779aa09 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 17, + "style_id": 28, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + -1.3248288923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + 1.3248288923674445, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + 1.3248288923674445, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + -1.3248288923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the squash and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9111662690223974, + -0.7803404455888195, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa7fb49fbcab1c8b7c8857e9372d6d10867c5bd --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 15, + "style_id": 53, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 0.65 + ], + "offset": [ + -0.7875000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 0.65 + ], + "offset": [ + 0.7874999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.01934, + 0.088424, + 0.042176 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 0.65 + ], + "offset": [ + 0.7874999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 0.65 + ], + "offset": [ + 0.7874999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon wedge and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.778940218017417, + -3.226158376348411, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35d759a231426575ac5bf4fb7739a726b4fbbfb6 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 18, + "style_id": 54, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4590878373000382, + 0.65 + ], + "offset": [ + -1.070456081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.4590878373000382, + 0.65 + ], + "offset": [ + 1.0704560813499813, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.014456, + 0.041804, + 0.02032 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + }, + "reset_region": { + "size": [ + 1.4590878373000382, + 0.65 + ], + "offset": [ + 1.0704560813499813, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4590878373000382, + 0.65 + ], + "offset": [ + 1.0704560813499813, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon wedge and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7912807187357105, + -4.412170901234267, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c927969af967faa533c3f55a1892bfcac0a862e8 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,714 @@ +{ + "layout_id": 39, + "style_id": 17, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9870334053628995, + 1.3 + ], + "offset": [ + -0.8064832973185503, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 0.9870334053628995, + 1.3 + ], + "offset": [ + 0.8064832973185501, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9870334053628995, + 1.3 + ], + "offset": [ + -0.8064832973185503, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 0.9870334053628995, + 1.3 + ], + "offset": [ + -0.8064832973185503, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the broccoli and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5712454645779217, + -3.691249523202235, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a15f995a1a38cd5d74983aec2837d82fb24e690 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,582 @@ +{ + "layout_id": 28, + "style_id": 42, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4289948858441017, + 0.65 + ], + "offset": [ + -1.154502557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4289948858441017, + 0.65 + ], + "offset": [ + 1.1545025570779488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4289948858441017, + 0.65 + ], + "offset": [ + -1.154502557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4289948858441017, + 0.65 + ], + "offset": [ + -1.154502557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the broccoli and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.973022858901808, + -1.7414438621347477, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0ca879c8488258f22845da2d1abd41d504b1aca --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,582 @@ +{ + "layout_id": 28, + "style_id": 29, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + -1.1425009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + 1.1425009821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + 1.1425009821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + -1.1425009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.07665066261506, + -1.7132383020175685, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e2019266dfc5f7a61521fe6b44426b50222ce84 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 42, + "style_id": 38, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0588000000000002, + 0.65 + ], + "offset": [ + -0.7530999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.9561999999999998, + 0.65 + ], + "offset": [ + 0.8044, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9561999999999998, + 0.65 + ], + "offset": [ + 0.8044, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "size": [ + 0.9561999999999998, + 0.65 + ], + "offset": [ + 0.8044, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the garlic and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.389784055029167, + -2.0634388500713157, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed12c839d7c922bdd1059e426dc97d2de59167b5 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 15, + "style_id": 15, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8818321819379027, + 0.65 + ], + "offset": [ + -0.8590839090310487, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8818321819379027, + 0.65 + ], + "offset": [ + 0.8590839090310485, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8818321819379027, + 0.65 + ], + "offset": [ + 0.8590839090310485, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8818321819379027, + 0.65 + ], + "offset": [ + 0.8590839090310485, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the squash and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7894696370898973, + -3.131218924560888, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4c6158a578c9b1f86517eacc14b3e103b13ae98 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,608 @@ +{ + "layout_id": 35, + "style_id": 24, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.039087837300038, + 0.65 + ], + "offset": [ + -0.8604560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.039087837300038, + 0.65 + ], + "offset": [ + 0.8604560813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "size": [ + 1.039087837300038, + 0.65 + ], + "offset": [ + 0.8604560813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "size": [ + 1.039087837300038, + 0.65 + ], + "offset": [ + 0.8604560813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lime and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8122035959813965, + -1.2545137631867058, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea176ffc168fdf1a3f15cc3595398f4191d68c4a --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,626 @@ +{ + "layout_id": 17, + "style_id": 30, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + -1.3248288923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + 1.3248288923674445, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + 1.3248288923674445, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + 1.3248288923674445, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the corn and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7392755970340317, + -0.7867313606282001, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..048c04b3621fe8206019ffaf01e41383b76c0944 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 42, + "style_id": 60, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.9522971639703602, + 0.65 + ], + "offset": [ + -0.8063514180148199, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.84969716397036, + 0.65 + ], + "offset": [ + 0.85765141801482, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.06405487999999998, + 0.12499897124999998, + 0.06664654999999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + }, + "reset_region": { + "size": [ + 0.84969716397036, + 0.65 + ], + "offset": [ + 0.85765141801482, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "size": [ + 0.9522971639703602, + 0.65 + ], + "offset": [ + -0.8063514180148199, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the onion and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.400831111887693, + -1.99164128781198, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7d2620998eaaff710ef99bb683d7621d56c9b19 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 37, + "style_id": 36, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.0315919093655068, + 0.650008 + ], + "offset": [ + -0.9191225453172466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.0315919093655068, + 0.650008 + ], + "offset": [ + 0.9191225453172465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.032836, + 0.089844, + 0.034452 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml" + }, + "reset_region": { + "size": [ + 1.0315919093655068, + 0.650008 + ], + "offset": [ + -0.9191225453172466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "size": [ + 1.0315919093655068, + 0.650008 + ], + "offset": [ + 0.9191225453172465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon wedge and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8036569278632606, + -2.2858879639025482, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d80e9b4631867a008aefc9dc11b83aa16ef4d5a --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 31, + "style_id": 46, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.8099958858441019, + 0.65 + ], + "offset": [ + -1.3450030570779492, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.8099958858441019, + 0.65 + ], + "offset": [ + 1.3450030570779492, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.07066568713686604, + 0.05329286747463404, + 0.06963380960147325 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "size": [ + 1.8099958858441019, + 0.65 + ], + "offset": [ + 1.3450030570779492, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "size": [ + 1.8099958858441019, + 0.65 + ], + "offset": [ + -1.3450030570779492, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the mushroom and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.86900630714204, + -4.840098616014668, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a1304aaa475f92e29a0effebfa6426ace4cfc16 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,608 @@ +{ + "layout_id": 35, + "style_id": 40, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 0.9639980356914049, + 0.65 + ], + "offset": [ + -0.8980009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9639980356914049, + 0.65 + ], + "offset": [ + 0.8980009821542971, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "size": [ + 0.9639980356914049, + 0.65 + ], + "offset": [ + 0.8980009821542971, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "size": [ + 0.9639980356914049, + 0.65 + ], + "offset": [ + 0.8980009821542971, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the onion and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8048555591179402, + -1.2308849126418377, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7dc83a93c5ce2c138cd186ee4dcdb941bd73b89 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,614 @@ +{ + "layout_id": 22, + "style_id": 40, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.6429980356914049, + 0.85 + ], + "offset": [ + -0.7375009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "right", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 0.6429980356914049, + 0.85 + ], + "offset": [ + 0.7375009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6429980356914049, + 0.85 + ], + "offset": [ + -0.7375009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "size": [ + 0.6429980356914049, + 0.85 + ], + "offset": [ + 0.7375009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the tomato and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_dining_area_group_1", + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.230362812230515, + -2.409957149713139, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e576812098aef080e8274704c681e1f668ffe18 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 37, + "style_id": 13, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.0940063373000382, + 0.650008 + ], + "offset": [ + -0.8879153313499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.0940063373000382, + 0.650008 + ], + "offset": [ + 0.887915331349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0940063373000382, + 0.650008 + ], + "offset": [ + 0.887915331349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 1.0940063373000382, + 0.650008 + ], + "offset": [ + -0.8879153313499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the tomato and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7881351632386221, + -2.4025294771360888, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58ce311ddaa67cc3458e09691021a7711142c4e9 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 18, + "style_id": 23, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4184971639703603, + 0.65 + ], + "offset": [ + -1.09075141801482, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4184971639703603, + 0.65 + ], + "offset": [ + 1.0907514180148203, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4184971639703603, + 0.65 + ], + "offset": [ + 1.0907514180148203, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4184971639703603, + 0.65 + ], + "offset": [ + -1.09075141801482, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lime and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8110612674426517, + -4.204935994424154, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5bac4c9a3de04e3c649c2134212665d0d68e348 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,614 @@ +{ + "layout_id": 22, + "style_id": 41, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + -0.6999560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "right", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + 0.699956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + 0.699956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + 0.699956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_dining_area_group_1", + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.153853126441618, + -2.3801441627434388, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93d9b3640ae48297b275696c7b4c99187d6df2a5 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 28, + "style_id": 22, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.48443825249004, + 0.65 + ], + "offset": [ + -1.12678087375498, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.48443825249004, + 0.65 + ], + "offset": [ + 1.1267808737549803, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "size": [ + 1.48443825249004, + 0.65 + ], + "offset": [ + -1.12678087375498, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "size": [ + 1.48443825249004, + 0.65 + ], + "offset": [ + -1.12678087375498, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the garlic and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9775317946562145, + -1.7261553724102545, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec08a74e5e4b6d2ae2315c9a2d13cd6cdbf892a8 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,614 @@ +{ + "layout_id": 22, + "style_id": 27, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + -0.6999560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + 0.699956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + 0.699956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + 0.699956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the tomato and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_dining_area_group_1", + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.120078539481738, + -2.377304851148364, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9dd6a3f5e24e930d32ba4723b496743e1e73b9a --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,567 @@ +{ + "layout_id": 42, + "style_id": 15, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.9156321819379027, + 0.65 + ], + "offset": [ + -0.8246839090310486, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.8130321819379025, + 0.65 + ], + "offset": [ + 0.8759839090310491, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8130321819379025, + 0.65 + ], + "offset": [ + 0.8759839090310491, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "size": [ + 0.8130321819379025, + 0.65 + ], + "offset": [ + 0.8759839090310491, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the sweet potato and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.404759708892909, + -1.9479299774565184, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6cb99ad1bd37c3cb6a513a0f91174bf002beb740 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,582 @@ +{ + "layout_id": 28, + "style_id": 60, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.4874971639703602, + 0.65 + ], + "offset": [ + -1.1252514180148199, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.4874971639703602, + 0.65 + ], + "offset": [ + 1.1252514180148203, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4874971639703602, + 0.65 + ], + "offset": [ + 1.1252514180148203, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4874971639703602, + 0.65 + ], + "offset": [ + 1.1252514180148203, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the corn and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2617609041281965, + -1.7377987037337497, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4107ed982f1e21da30c2714239701a2093aaca5 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 29, + "style_id": 58, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.431808121740107, + 0.65 + ], + "offset": [ + -1.0340959391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.431808121740107, + 0.65 + ], + "offset": [ + 1.0340959391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "size": [ + 1.431808121740107, + 0.65 + ], + "offset": [ + 1.0340959391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "size": [ + 1.431808121740107, + 0.65 + ], + "offset": [ + 1.0340959391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.1602201226287949, + -4.170479703054491, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..218c090cd7b90718f16f3c7250191691219ad57e --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 34, + "style_id": 41, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.1056098373000385, + 0.65 + ], + "offset": [ + 1.1692450813499808, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the squash and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7822876432597534, + -2.2144264872511554, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ff84a106f49528b8332e738920af310d08a9f7 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,713 @@ +{ + "layout_id": 39, + "style_id": 55, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + -0.8580009821542975, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + 0.8580009821542978, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.12405540000000001, + 0.10193400000000001, + 0.12899880000000002 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lettuce", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce007/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + 0.8580009821542978, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + -0.8580009821542975, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lettuce and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.780763174256701, + -3.6437056229281706, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a385255303f8f70b08c3c7e552c4106b22b2ee66 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 29, + "style_id": 17, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4370334053628995, + 0.65 + ], + "offset": [ + -1.0314832973185504, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.4370334053628995, + 0.65 + ], + "offset": [ + 1.0314832973185504, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4370334053628995, + 0.65 + ], + "offset": [ + 1.0314832973185504, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "size": [ + 1.4370334053628995, + 0.65 + ], + "offset": [ + 1.0314832973185504, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the broccoli and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.16664127752868338, + -4.345167158782044, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12bcc81b00769850df3a4b34c17b6273109389ab --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 17, + "style_id": 18, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + -1.3248288923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + 1.3248288923674445, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + 1.3248288923674445, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + -1.3248288923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the cucumber and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8947871003120467, + -0.7604047089925465, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5d6279b764d4fff93416e2022f2002619fe3b17 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,713 @@ +{ + "layout_id": 39, + "style_id": 57, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 0.8966734093655069, + 1.3 + ], + "offset": [ + -0.8516632953172466, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8966734093655069, + 1.3 + ], + "offset": [ + 0.8516632953172463, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8966734093655069, + 1.3 + ], + "offset": [ + 0.8516632953172463, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8966734093655069, + 1.3 + ], + "offset": [ + -0.8516632953172466, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the garlic and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.928095648745958, + -3.6487834835354716, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94e95a43cf97bfc4f03a6c22a23b46b5ee726c81 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,607 @@ +{ + "layout_id": 35, + "style_id": 53, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the mushroom and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8077161703201312, + -1.2402677148361627, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b1d848fc38aeb8d577a707625d60840005a7d0c --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 15, + "style_id": 34, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 0.9499433326264595, + 0.65 + ], + "offset": [ + -0.8250283336867703, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "right", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 0.9499433326264595, + 0.65 + ], + "offset": [ + 0.8250283336867701, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "size": [ + 0.9499433326264595, + 0.65 + ], + "offset": [ + 0.8250283336867701, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9499433326264595, + 0.65 + ], + "offset": [ + 0.8250283336867701, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the garlic and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7879325148604404, + -3.1082125027650975, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39c844312c205507ec06e1a498f695e1626c067d --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 42, + "style_id": 56, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 0.9156321819379027, + 0.65 + ], + "offset": [ + -0.8246839090310486, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8130321819379025, + 0.65 + ], + "offset": [ + 0.8759839090310491, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.06405487999999998, + 0.12499897124999998, + 0.06664654999999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9156321819379027, + 0.65 + ], + "offset": [ + -0.8246839090310486, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "size": [ + 0.9156321819379027, + 0.65 + ], + "offset": [ + -0.8246839090310486, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the onion and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.385622259995884, + -2.07003648551828, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57c2cf73048fba39cc768758cc1bac049cd4428d --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 18, + "style_id": 48, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.4504311607387128, + 0.65 + ], + "offset": [ + -1.0747844196306438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.4504311607387128, + 0.65 + ], + "offset": [ + 1.074784419630644, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4504311607387128, + 0.65 + ], + "offset": [ + 1.074784419630644, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4504311607387128, + 0.65 + ], + "offset": [ + -1.0747844196306438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the bell pepper and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8634712870093711, + -4.237187817342602, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7fc5fa52eacf71b259cb14decfbe359819062d2 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 17, + "style_id": 60, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.80199716397036, + 0.65 + ], + "offset": [ + -1.28250141801482, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.80199716397036, + 0.65 + ], + "offset": [ + 1.28250141801482, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "size": [ + 1.80199716397036, + 0.65 + ], + "offset": [ + 1.28250141801482, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 1.80199716397036, + 0.65 + ], + "offset": [ + 1.28250141801482, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the sweet potato and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8685384052936644, + -0.7679208606283581, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7309447df2641a3c4e2e4b28be90c55bd83a2fc --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 15, + "style_id": 56, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 0.8818321819379027, + 0.65 + ], + "offset": [ + -0.8590839090310487, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "right", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8818321819379027, + 0.65 + ], + "offset": [ + 0.8590839090310485, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8818321819379027, + 0.65 + ], + "offset": [ + -0.8590839090310487, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8818321819379027, + 0.65 + ], + "offset": [ + 0.8590839090310485, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the garlic and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7988212563143245, + -3.0447763011618845, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb4e91c3d6a06e16b0797c42924dd6e4f52ead3 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,585 @@ +{ + "layout_id": 18, + "style_id": 29, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.383998035691405, + 0.65 + ], + "offset": [ + -1.1080009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.383998035691405, + 0.65 + ], + "offset": [ + 1.1080009821542978, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 1.383998035691405, + 0.65 + ], + "offset": [ + -1.1080009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "size": [ + 1.383998035691405, + 0.65 + ], + "offset": [ + -1.1080009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the broccoli and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7932732420646451, + -4.195445879986675, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52e5c893290a311311fd2f6b259b9b573b935acf --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 29, + "style_id": 56, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.3318321819379026, + 0.65 + ], + "offset": [ + -1.0840839090310488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.3318321819379026, + 0.65 + ], + "offset": [ + 1.0840839090310488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3318321819379026, + 0.65 + ], + "offset": [ + 1.0840839090310488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "size": [ + 1.3318321819379026, + 0.65 + ], + "offset": [ + -1.0840839090310488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the mushroom and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.15243178463720594, + -4.194082596728036, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bcc883d674e2407a33988e8f57ca5e8a142cd987 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,567 @@ +{ + "layout_id": 42, + "style_id": 13, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9928878373000383, + 0.65 + ], + "offset": [ + -0.7860560813499808, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.890287837300038, + 0.65 + ], + "offset": [ + 0.837356081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9928878373000383, + 0.65 + ], + "offset": [ + -0.7860560813499808, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "size": [ + 0.9928878373000383, + 0.65 + ], + "offset": [ + -0.7860560813499808, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.418521955227105, + -2.0967017716043377, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15dc8b3a4ef35300115b2fd1490c36fd942a41bc --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 29, + "style_id": 60, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.36849716397036, + 0.65 + ], + "offset": [ + -1.06575141801482, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.36849716397036, + 0.65 + ], + "offset": [ + 1.0657514180148198, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 1.36849716397036, + 0.65 + ], + "offset": [ + 1.0657514180148198, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "size": [ + 1.36849716397036, + 0.65 + ], + "offset": [ + 1.0657514180148198, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the corn and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.14057877572333255, + -4.279042776027242, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dda2c2baee3615bd7c91c1c05c88f8bdd49cb6c7 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,713 @@ +{ + "layout_id": 39, + "style_id": 33, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8338422152651123, + 1.3 + ], + "offset": [ + -0.883078892367444, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8338422152651123, + 1.3 + ], + "offset": [ + 0.883078892367444, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8338422152651123, + 1.3 + ], + "offset": [ + -0.883078892367444, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "size": [ + 0.8338422152651123, + 1.3 + ], + "offset": [ + -0.883078892367444, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lime and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.553547440465679, + -3.6433092740007798, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11bc1d92499d998c87a702062da3c61a0884a016 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 29, + "style_id": 54, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.4090878373000382, + 0.65 + ], + "offset": [ + -1.045456081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.4090878373000382, + 0.65 + ], + "offset": [ + 1.0454560813499807, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.07302815839999997, + 0.07999939919999997, + 0.07302816799999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4090878373000382, + 0.65 + ], + "offset": [ + 1.0454560813499807, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "size": [ + 1.4090878373000382, + 0.65 + ], + "offset": [ + -1.045456081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the onion and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.15892373877073593, + -4.253821413139576, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac5bc2d8cd53cacac9c420ce37d8377562a1d531 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 31, + "style_id": 50, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + -1.3330014821542977, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + 1.3330014821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + 1.3330014821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + -1.3330014821542977, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the tomato and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.8671926114304185, + -4.8058599420084525, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..810ed1d4d88e018b6a49a2ee8116160540a964d8 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 37, + "style_id": 58, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.116726621740107, + 0.650008 + ], + "offset": [ + -0.8765551891299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.116726621740107, + 0.650008 + ], + "offset": [ + 0.8765551891299463, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "size": [ + 1.116726621740107, + 0.650008 + ], + "offset": [ + 0.8765551891299463, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "size": [ + 1.116726621740107, + 0.650008 + ], + "offset": [ + 0.8765551891299463, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the squash and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7877984804196682, + -2.400797074277643, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec1e7b8cd90fcc1eeb54252eefb919cd56537276 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 34, + "style_id": 44, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.679386121740107, + 0.65 + ], + "offset": [ + -0.8823569391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.1283301217401074, + 0.65 + ], + "offset": [ + 1.1578849391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1283301217401074, + 0.65 + ], + "offset": [ + 1.1578849391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1283301217401074, + 0.65 + ], + "offset": [ + 1.1578849391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7862058810679571, + -2.177800815504977, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..98c5db1a003a8ffe08c749a85da9bdf5940525f2 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 18, + "style_id": 11, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + -1.0375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + 1.0375000000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + -1.0375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + -1.0375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the carrot and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8063192704943858, + -4.33917554462205, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a94f91b49168e8ed5aae2272d2378d64dec6ae0 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 18, + "style_id": 35, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + -1.0375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + 1.0375000000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.052865963819999987, + 0.08099999999999999, + 0.052313077259999986 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + -1.0375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + -1.0375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the avocado and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7990371533182429, + -4.414359090881785, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bdfe483e30cd9361eb9c0fbfb6b5d996fb19d5b --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 34, + "style_id": 35, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.722578, + 0.65 + ], + "offset": [ + -0.8607610000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.1715220000000004, + 0.65 + ], + "offset": [ + 1.1362890000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1715220000000004, + 0.65 + ], + "offset": [ + 1.1362890000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "size": [ + 1.722578, + 0.65 + ], + "offset": [ + -0.8607610000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the garlic and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7941204846875488, + -2.3150573205931533, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b566da83fa7bab0acac11d897f91cf650a97d84e --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,581 @@ +{ + "layout_id": 28, + "style_id": 54, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.5280878373000382, + 0.65 + ], + "offset": [ + -1.104956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.5280878373000382, + 0.65 + ], + "offset": [ + 1.1049560813499812, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5280878373000382, + 0.65 + ], + "offset": [ + -1.104956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "size": [ + 1.5280878373000382, + 0.65 + ], + "offset": [ + -1.104956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the mushroom and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.97551446694424, + -1.7434970942250567, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1cf1953d26582cb7daa0b70651f4f7af3cce8f4 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,615 @@ +{ + "layout_id": 22, + "style_id": 24, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + -0.6999560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "right", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + 0.699956081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + -0.6999560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "size": [ + 0.7180878373000381, + 0.85 + ], + "offset": [ + -0.6999560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_dining_area_group_1", + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.037690389848555, + -2.4150215954080916, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e1402e5310c463b8c8292b9616c8d47c96c15ae --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,585 @@ +{ + "layout_id": 18, + "style_id": 37, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4818081217401071, + 0.65 + ], + "offset": [ + -1.0590959391299464, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4818081217401071, + 0.65 + ], + "offset": [ + 1.0590959391299462, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4818081217401071, + 0.65 + ], + "offset": [ + 1.0590959391299462, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "size": [ + 1.4818081217401071, + 0.65 + ], + "offset": [ + -1.0590959391299464, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the corn and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8091757486819451, + -4.321951037443523, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4acf0e4f3f3e4317d5f11782e32351740ea0d6bc --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,628 @@ +{ + "layout_id": 17, + "style_id": 58, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.865308121740107, + 0.65 + ], + "offset": [ + -1.2508459391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 1.865308121740107, + 0.65 + ], + "offset": [ + 1.2508459391299467, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.039628183899999996, + 0.14381945929999995, + 0.041762779649999984 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + }, + "reset_region": { + "size": [ + 1.865308121740107, + 0.65 + ], + "offset": [ + 1.2508459391299467, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "size": [ + 1.865308121740107, + 0.65 + ], + "offset": [ + 1.2508459391299467, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the carrot and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9072261059310875, + -0.7940768730722529, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a06494425c7ee2f4175e418eac563175f3b4fbf --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 15, + "style_id": 24, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 0.9590878373000382, + 0.65 + ], + "offset": [ + -0.8204560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "right", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 0.9590878373000382, + 0.65 + ], + "offset": [ + 0.8204560813499808, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05165974373992843, + 0.15974517784092518, + 0.04071821599999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "size": [ + 0.9590878373000382, + 0.65 + ], + "offset": [ + 0.8204560813499808, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "size": [ + 0.9590878373000382, + 0.65 + ], + "offset": [ + -0.8204560813499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the carrot and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7947763341982692, + -3.0862008126964517, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9efd52ec9f1307c6834c825aed8244aa0a647f21 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 34, + "style_id": 30, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.5314202152651122, + 0.65 + ], + "offset": [ + -0.956339892367444, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.9803642152651125, + 0.65 + ], + "offset": [ + 1.2318678923674435, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9803642152651125, + 0.65 + ], + "offset": [ + 1.2318678923674435, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "size": [ + 0.9803642152651125, + 0.65 + ], + "offset": [ + 1.2318678923674435, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the cucumber and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7975993156950936, + -2.3230243273626257, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..366caa3d543d670d9569d84a55cc2553c02e3bd9 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 31, + "style_id": 26, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + -1.3330014821542977, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + 1.3330014821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + -1.3330014821542977, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "size": [ + 1.833999035691405, + 0.65 + ], + "offset": [ + 1.3330014821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the mushroom and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.878245300547486, + -4.777882829595915, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40aec162c8ac63f924babbfb469fa32af6770349 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,713 @@ +{ + "layout_id": 39, + "style_id": 22, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.9154382524900398, + 1.3 + ], + "offset": [ + -0.8422808737549801, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 0.9154382524900398, + 1.3 + ], + "offset": [ + 0.8422808737549798, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "size": [ + 0.9154382524900398, + 1.3 + ], + "offset": [ + -0.8422808737549801, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "size": [ + 0.9154382524900398, + 1.3 + ], + "offset": [ + -0.8422808737549801, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the tomato and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5810538624270616, + -3.635806044550723, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a174548f7cd7ffe9c4bce881c566df33e2019fbf --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,609 @@ +{ + "layout_id": 35, + "style_id": 11, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the sweet potato and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8053736586532967, + -1.2573333485876008, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5dc672395c31bfe70952197451e372fc4dd3ea8 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 31, + "style_id": 44, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.9318091217401072, + 0.65 + ], + "offset": [ + -1.2840964391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.9318091217401072, + 0.65 + ], + "offset": [ + 1.2840964391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.04982950829999999, + 0.14104355024999995, + 0.05576044664999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "size": [ + 1.9318091217401072, + 0.65 + ], + "offset": [ + 1.2840964391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 1.9318091217401072, + 0.65 + ], + "offset": [ + -1.2840964391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the eggplant and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.869556308929647, + -4.823710397991771, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf8e66fd43f793ff237e3e84e3ae722d7c476b5e --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,608 @@ +{ + "layout_id": 35, + "style_id": 35, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lime and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8189551768067467, + -1.3199311519830383, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fed82b34386a791d9105fa0883cd3082e0474d1a --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 15, + "style_id": 29, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + -0.8580009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + 0.8580009821542978, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.07388735999999997, + 0.09999999999999996, + 0.07365630199999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + -0.8580009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + 0.8580009821542978, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the potato and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7778673978909022, + -3.1688388909379968, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1537533d656adf160c58c6d4ed36568c99ac203 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,614 @@ +{ + "layout_id": 22, + "style_id": 12, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.6189948858441017, + 0.85 + ], + "offset": [ + -0.7495025570779491, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "right", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 0.6189948858441017, + 0.85 + ], + "offset": [ + 0.749502557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.06901958700000001, + 0.07059185533460792, + 0.06406201096188076 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "size": [ + 0.6189948858441017, + 0.85 + ], + "offset": [ + 0.749502557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stovetop_dining_area_group_1", + "loc": "left_right", + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "size": [ + 0.6189948858441017, + 0.85 + ], + "offset": [ + 0.749502557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the tomato and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_dining_area_group_1", + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.965026015710379, + -2.409389451355071, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..276466b0791bb7b9159b8036461ece6e3867dc77 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,581 @@ +{ + "layout_id": 28, + "style_id": 45, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.5939999999999999, + 0.65 + ], + "offset": [ + -1.072, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5939999999999999, + 0.65 + ], + "offset": [ + 1.0719999999999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5939999999999999, + 0.65 + ], + "offset": [ + -1.072, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5939999999999999, + 0.65 + ], + "offset": [ + 1.0719999999999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the squash and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1445002246305322, + -1.7396372237273077, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93c60578e3c1c3380c23daa5d2a8d70385fd67bb --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 29, + "style_id": 26, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.333998035691405, + 0.65 + ], + "offset": [ + -1.0830009821542976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.333998035691405, + 0.65 + ], + "offset": [ + 1.0830009821542972, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "size": [ + 1.333998035691405, + 0.65 + ], + "offset": [ + 1.0830009821542972, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "size": [ + 1.333998035691405, + 0.65 + ], + "offset": [ + 1.0830009821542972, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the garlic and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.14617603582196304, + -4.24799410434594, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbb638038443b151b8e7d6e34801dcb836251aaf --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,626 @@ +{ + "layout_id": 17, + "style_id": 14, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.865308121740107, + 0.65 + ], + "offset": [ + -1.2508459391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.865308121740107, + 0.65 + ], + "offset": [ + 1.2508459391299467, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.07302815839999997, + 0.07999939919999997, + 0.07302816799999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + }, + "reset_region": { + "size": [ + 1.865308121740107, + 0.65 + ], + "offset": [ + -1.2508459391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 1.865308121740107, + 0.65 + ], + "offset": [ + -1.2508459391299465, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the onion and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7630373310393694, + -0.7833574816689431, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3444b1d859d6d86a8cda8462b47c870454d2e4b4 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 42, + "style_id": 29, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.9177980356914051, + 0.65 + ], + "offset": [ + -0.8236009821542974, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8151980356914048, + 0.65 + ], + "offset": [ + 0.8749009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8151980356914048, + 0.65 + ], + "offset": [ + 0.8749009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8151980356914048, + 0.65 + ], + "offset": [ + 0.8749009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the onion and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.3907079348443645, + -1.9426650143504451, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d670e2195686693420f3bcefb9b13f700f76fbf7 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 17, + "style_id": 46, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.7434948858441017, + 0.65 + ], + "offset": [ + -1.3117525570779491, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7434948858441017, + 0.65 + ], + "offset": [ + 1.311752557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7434948858441017, + 0.65 + ], + "offset": [ + -1.3117525570779491, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7434948858441017, + 0.65 + ], + "offset": [ + 1.311752557077949, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the sweet potato and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7236000129798033, + -0.7717982783338018, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12cd734cecc60762e8d9e778f71bc629f2d29fe5 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 28, + "style_id": 40, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + -1.1425009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + 1.1425009821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + 1.1425009821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + 1.1425009821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the garlic and the shrimp on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.090581496871773, + -1.707474562779978, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bff6a5d9b34d31f7104705a4af288184b10e9b44 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 15, + "style_id": 32, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + -0.8580009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "right", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + 0.8580009821542978, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + -0.8580009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 0.65 + ], + "offset": [ + -0.8580009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the bell pepper and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7787034812099827, + -3.195674962529906, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64b90b83d7bed70e584e0ede8baef8c9463552a5 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 34, + "style_id": 41, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.1056098373000385, + 0.65 + ], + "offset": [ + 1.1692450813499808, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.07302815839999997, + 0.07999939919999997, + 0.07302816799999998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the onion and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7764905114434784, + -2.209933905001881, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bbbf3a36f540c5bfeaee51be80b2b768449d2fc --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,608 @@ +{ + "layout_id": 35, + "style_id": 53, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the bell pepper and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.805058267529265, + -1.2484661442532123, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d89999a60935d9f0272c517cd08ebd616ff4223c --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,581 @@ +{ + "layout_id": 28, + "style_id": 55, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + -1.1425009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "right", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + 1.1425009821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.05881770738660883, + 0.08999999474454902, + 0.058182302091294484 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + 1.1425009821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "size": [ + 1.452998035691405, + 0.65 + ], + "offset": [ + 1.1425009821542973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the avocado and the steak on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.020822313717507, + -1.7383972261519207, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..317a86301c7e67f8a4d22c84e98ec72fa6b3733a --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,585 @@ +{ + "layout_id": 18, + "style_id": 53, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left", + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + -1.0375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + 1.0375000000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + -1.0375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "size": [ + 1.525, + 0.65 + ], + "offset": [ + 1.0375000000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the sweet potato and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8044840987063486, + -4.289246555398875, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83fc5ab21c6611170929ffd2d4439be30b045800 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 34, + "style_id": 58, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.679386121740107, + 0.65 + ], + "offset": [ + -0.8823569391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.1283301217401074, + 0.65 + ], + "offset": [ + 1.1578849391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1283301217401074, + 0.65 + ], + "offset": [ + 1.1578849391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "size": [ + 1.679386121740107, + 0.65 + ], + "offset": [ + -0.8823569391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the corn and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.785701747310286, + -2.256933028260347, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86f9432e5a7d7676bec050a5f6357321d8f3a9f9 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,626 @@ +{ + "layout_id": 17, + "style_id": 30, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + -1.3248288923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "right", + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + 1.3248288923674445, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + -1.3248288923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stovetop_main_group_1", + "loc": "left_right", + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "size": [ + 1.7173422152651123, + 0.65 + ], + "offset": [ + -1.3248288923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lime and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.707757036708229, + -0.7825465602129916, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d02b5f7be4e16c9c3dd0efca177920619168ee08 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,714 @@ +{ + "layout_id": 39, + "style_id": 32, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + -0.8580009821542975, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + 0.8580009821542978, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + -0.8580009821542975, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "size": [ + 0.883998035691405, + 1.3 + ], + "offset": [ + -0.8580009821542975, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the lemon and the fish on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.8497028920551366, + -3.6398210885054674, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17a845500cc27982a82bf3719ee98a43942ab3b4 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 15, + "style_id": 45, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left", + "min_size": [ + 0.23007334064000004, + 0.4354671250800001, + 0.03740855508000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 0.65 + ], + "offset": [ + -0.7875000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 0.65 + ], + "offset": [ + 0.7874999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 0.65 + ], + "offset": [ + -0.7875000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_1_left_group_1", + "loc": "left_right", + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 0.65 + ], + "offset": [ + -0.7875000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the bell pepper and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8149135962707209, + -3.074980616320287, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..418d3ab6bcd7e6d3390869711cdec47fc558f454 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,608 @@ +{ + "layout_id": 35, + "style_id": 53, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left", + "min_size": [ + 0.23703159840000004, + 0.40716138864000007, + 0.04810039296 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "right", + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + 0.8275000000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stovetop_left_group_1", + "loc": "left_right", + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the bell pepper and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8118773795441738, + -1.4519580071307938, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4275992970c460a5503763623ad26721aae4f190 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,715 @@ +{ + "layout_id": 39, + "style_id": 38, + "object_cfgs": [ + { + "name": "pan1", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left", + "min_size": [ + 0.20596513200000005, + 0.4180621385000001, + 0.04904327450000001 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 1.3 + ], + "offset": [ + -0.7875000000000001, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "pan2", + "obj_groups": "pan", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "right", + "min_size": [ + 0.24479999999999996, + 0.425, + 0.04723939100123237 + ] + }, + "size": [ + 0.5, + 1.0 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 1.3 + ], + "offset": [ + 0.7874999999999999, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.06325809199999997, + 0.07999999999999996, + 0.07804364159999996 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_1/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 1.3 + ], + "offset": [ + 0.7874999999999999, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + }, + "size": [ + 0.6, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 1.3 + ], + "offset": [ + -0.7875000000000001, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place both pans onto different burners. Then place the potato and the chicken drumstick on different pans.", + "fixture_refs": { + "stove": "stovetop_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.9160010047708678, + -3.6340131408410885, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/embodiment.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/episodes.jsonl b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e245850b9f8406928e1d44d044f69fd2b6b9be54 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/episodes.jsonl @@ -0,0 +1,102 @@ +{"episode_index": 0, "tasks": ["Place both pans onto different burners. Then place the corn and the steak on different pans."], "length": 1473} +{"episode_index": 1, "tasks": ["Place both pans onto different burners. Then place the eggplant and the fish on different pans."], "length": 1256} +{"episode_index": 2, "tasks": ["Place both pans onto different burners. Then place the bell pepper and the shrimp on different pans."], "length": 1461} +{"episode_index": 3, "tasks": ["Place both pans onto different burners. Then place the onion and the steak on different pans."], "length": 1227} +{"episode_index": 4, "tasks": ["Place both pans onto different burners. Then place the mushroom and the fish on different pans."], "length": 1434} +{"episode_index": 5, "tasks": ["Place both pans onto different burners. Then place the sweet potato and the shrimp on different pans."], "length": 996} +{"episode_index": 6, "tasks": ["Place both pans onto different burners. Then place the potato and the chicken drumstick on different pans."], "length": 1467} +{"episode_index": 7, "tasks": ["Place both pans onto different burners. Then place the bell pepper and the shrimp on different pans."], "length": 1491} +{"episode_index": 8, "tasks": ["Place both pans onto different burners. Then place the lemon and the steak on different pans."], "length": 1276} +{"episode_index": 9, "tasks": ["Place both pans onto different burners. Then place the squash and the steak on different pans."], "length": 1465} +{"episode_index": 10, "tasks": ["Place both pans onto different burners. Then place the sweet potato and the fish on different pans."], "length": 1213} +{"episode_index": 11, "tasks": ["Place both pans onto different burners. Then place the corn and the fish on different pans."], "length": 1402} +{"episode_index": 12, "tasks": ["Place both pans onto different burners. Then place the bell pepper and the steak on different pans."], "length": 1654} +{"episode_index": 13, "tasks": ["Place both pans onto different burners. Then place the squash and the fish on different pans."], "length": 1283} +{"episode_index": 14, "tasks": ["Place both pans onto different burners. Then place the broccoli and the steak on different pans."], "length": 1397} +{"episode_index": 15, "tasks": ["Place both pans onto different burners. Then place the squash and the chicken drumstick on different pans."], "length": 1631} +{"episode_index": 16, "tasks": ["Place both pans onto different burners. Then place the carrot and the chicken drumstick on different pans."], "length": 900} +{"episode_index": 17, "tasks": ["Place both pans onto different burners. Then place the potato and the steak on different pans."], "length": 1396} +{"episode_index": 18, "tasks": ["Place both pans onto different burners. Then place the potato and the steak on different pans."], "length": 1071} +{"episode_index": 19, "tasks": ["Place both pans onto different burners. Then place the avocado and the fish on different pans."], "length": 1036} +{"episode_index": 20, "tasks": ["Place both pans onto different burners. Then place the lemon wedge and the steak on different pans."], "length": 1509} +{"episode_index": 21, "tasks": ["Place both pans onto different burners. Then place the lime and the steak on different pans."], "length": 1241} +{"episode_index": 22, "tasks": ["Place both pans onto different burners. Then place the tomato and the shrimp on different pans."], "length": 1898} +{"episode_index": 23, "tasks": ["Place both pans onto different burners. Then place the sweet potato and the steak on different pans."], "length": 1098} +{"episode_index": 24, "tasks": ["Place both pans onto different burners. Then place the tomato and the chicken drumstick on different pans."], "length": 1584} +{"episode_index": 25, "tasks": ["Place both pans onto different burners. Then place the bell pepper and the shrimp on different pans."], "length": 1356} +{"episode_index": 26, "tasks": ["Place both pans onto different burners. Then place the squash and the shrimp on different pans."], "length": 1145} +{"episode_index": 27, "tasks": ["Place both pans onto different burners. Then place the lemon wedge and the chicken drumstick on different pans."], "length": 1659} +{"episode_index": 28, "tasks": ["Place both pans onto different burners. Then place the lemon wedge and the steak on different pans."], "length": 1553} +{"episode_index": 29, "tasks": ["Place both pans onto different burners. Then place the broccoli and the steak on different pans."], "length": 926} +{"episode_index": 30, "tasks": ["Place both pans onto different burners. Then place the broccoli and the fish on different pans."], "length": 1584} +{"episode_index": 31, "tasks": ["Place both pans onto different burners. Then place the lemon and the steak on different pans."], "length": 1371} +{"episode_index": 32, "tasks": ["Place both pans onto different burners. Then place the garlic and the steak on different pans."], "length": 1245} +{"episode_index": 33, "tasks": ["Place both pans onto different burners. Then place the squash and the fish on different pans."], "length": 1725} +{"episode_index": 34, "tasks": ["Place both pans onto different burners. Then place the lime and the chicken drumstick on different pans."], "length": 1300} +{"episode_index": 35, "tasks": ["Place both pans onto different burners. Then place the corn and the shrimp on different pans."], "length": 1147} +{"episode_index": 36, "tasks": ["Place both pans onto different burners. Then place the onion and the chicken drumstick on different pans."], "length": 1308} +{"episode_index": 37, "tasks": ["Place both pans onto different burners. Then place the lemon wedge and the chicken drumstick on different pans."], "length": 1329} +{"episode_index": 38, "tasks": ["Place both pans onto different burners. Then place the mushroom and the fish on different pans."], "length": 1598} +{"episode_index": 39, "tasks": ["Place both pans onto different burners. Then place the onion and the fish on different pans."], "length": 1165} +{"episode_index": 40, "tasks": ["Place both pans onto different burners. Then place the tomato and the fish on different pans."], "length": 1144} +{"episode_index": 41, "tasks": ["Place both pans onto different burners. Then place the tomato and the steak on different pans."], "length": 1211} +{"episode_index": 42, "tasks": ["Place both pans onto different burners. Then place the lime and the fish on different pans."], "length": 1328} +{"episode_index": 43, "tasks": ["Place both pans onto different burners. Then place the lemon and the shrimp on different pans."], "length": 1185} +{"episode_index": 44, "tasks": ["Place both pans onto different burners. Then place the garlic and the shrimp on different pans."], "length": 978} +{"episode_index": 45, "tasks": ["Place both pans onto different burners. Then place the tomato and the steak on different pans."], "length": 1331} +{"episode_index": 46, "tasks": ["Place both pans onto different burners. Then place the sweet potato and the chicken drumstick on different pans."], "length": 1821} +{"episode_index": 47, "tasks": ["Place both pans onto different burners. Then place the corn and the fish on different pans."], "length": 1263} +{"episode_index": 48, "tasks": ["Place both pans onto different burners. Then place the lemon and the fish on different pans."], "length": 1194} +{"episode_index": 49, "tasks": ["Place both pans onto different burners. Then place the squash and the fish on different pans."], "length": 1357} +{"episode_index": 50, "tasks": ["Place both pans onto different burners. Then place the lettuce and the fish on different pans."], "length": 1366} +{"episode_index": 51, "tasks": ["Place both pans onto different burners. Then place the broccoli and the shrimp on different pans."], "length": 1386} +{"episode_index": 52, "tasks": ["Place both pans onto different burners. Then place the cucumber and the steak on different pans."], "length": 1479} +{"episode_index": 53, "tasks": ["Place both pans onto different burners. Then place the garlic and the fish on different pans."], "length": 1400} +{"episode_index": 54, "tasks": ["Place both pans onto different burners. Then place the mushroom and the shrimp on different pans."], "length": 1459} +{"episode_index": 55, "tasks": ["Place both pans onto different burners. Then place the garlic and the fish on different pans."], "length": 2104} +{"episode_index": 56, "tasks": ["Place both pans onto different burners. Then place the onion and the chicken drumstick on different pans."], "length": 2101} +{"episode_index": 57, "tasks": ["Place both pans onto different burners. Then place the bell pepper and the steak on different pans."], "length": 1552} +{"episode_index": 58, "tasks": ["Place both pans onto different burners. Then place the sweet potato and the steak on different pans."], "length": 1442} +{"episode_index": 59, "tasks": ["Place both pans onto different burners. Then place the garlic and the steak on different pans."], "length": 1312} +{"episode_index": 60, "tasks": ["Place both pans onto different burners. Then place the broccoli and the steak on different pans."], "length": 1501} +{"episode_index": 61, "tasks": ["Place both pans onto different burners. Then place the mushroom and the fish on different pans."], "length": 1316} +{"episode_index": 62, "tasks": ["Place both pans onto different burners. Then place the lemon and the chicken drumstick on different pans."], "length": 1287} +{"episode_index": 63, "tasks": ["Place both pans onto different burners. Then place the corn and the chicken drumstick on different pans."], "length": 1380} +{"episode_index": 64, "tasks": ["Place both pans onto different burners. Then place the lime and the chicken drumstick on different pans."], "length": 2072} +{"episode_index": 65, "tasks": ["Place both pans onto different burners. Then place the onion and the chicken drumstick on different pans."], "length": 1134} +{"episode_index": 66, "tasks": ["Place both pans onto different burners. Then place the tomato and the chicken drumstick on different pans."], "length": 1248} +{"episode_index": 67, "tasks": ["Place both pans onto different burners. Then place the squash and the fish on different pans."], "length": 1536} +{"episode_index": 68, "tasks": ["Place both pans onto different burners. Then place the lemon and the fish on different pans."], "length": 1754} +{"episode_index": 69, "tasks": ["Place both pans onto different burners. Then place the carrot and the chicken drumstick on different pans."], "length": 1420} +{"episode_index": 70, "tasks": ["Place both pans onto different burners. Then place the avocado and the shrimp on different pans."], "length": 1481} +{"episode_index": 71, "tasks": ["Place both pans onto different burners. Then place the garlic and the shrimp on different pans."], "length": 1157} +{"episode_index": 72, "tasks": ["Place both pans onto different burners. Then place the mushroom and the steak on different pans."], "length": 1667} +{"episode_index": 73, "tasks": ["Place both pans onto different burners. Then place the lemon and the steak on different pans."], "length": 1671} +{"episode_index": 74, "tasks": ["Place both pans onto different burners. Then place the corn and the chicken drumstick on different pans."], "length": 1155} +{"episode_index": 75, "tasks": ["Place both pans onto different burners. Then place the carrot and the fish on different pans."], "length": 1348} +{"episode_index": 76, "tasks": ["Place both pans onto different burners. Then place the carrot and the fish on different pans."], "length": 1579} +{"episode_index": 77, "tasks": ["Place both pans onto different burners. Then place the cucumber and the chicken drumstick on different pans."], "length": 1237} +{"episode_index": 78, "tasks": ["Place both pans onto different burners. Then place the mushroom and the chicken drumstick on different pans."], "length": 1190} +{"episode_index": 79, "tasks": ["Place both pans onto different burners. Then place the tomato and the chicken drumstick on different pans."], "length": 1118} +{"episode_index": 80, "tasks": ["Place both pans onto different burners. Then place the sweet potato and the steak on different pans."], "length": 1446} +{"episode_index": 81, "tasks": ["Place both pans onto different burners. Then place the eggplant and the steak on different pans."], "length": 1340} +{"episode_index": 82, "tasks": ["Place both pans onto different burners. Then place the lime and the fish on different pans."], "length": 1367} +{"episode_index": 83, "tasks": ["Place both pans onto different burners. Then place the potato and the chicken drumstick on different pans."], "length": 1686} +{"episode_index": 84, "tasks": ["Place both pans onto different burners. Then place the tomato and the steak on different pans."], "length": 1130} +{"episode_index": 85, "tasks": ["Place both pans onto different burners. Then place the squash and the fish on different pans."], "length": 1380} +{"episode_index": 86, "tasks": ["Place both pans onto different burners. Then place the garlic and the chicken drumstick on different pans."], "length": 1638} +{"episode_index": 87, "tasks": ["Place both pans onto different burners. Then place the onion and the steak on different pans."], "length": 2448} +{"episode_index": 88, "tasks": ["Place both pans onto different burners. Then place the onion and the steak on different pans."], "length": 1749} +{"episode_index": 89, "tasks": ["Place both pans onto different burners. Then place the sweet potato and the fish on different pans."], "length": 1239} +{"episode_index": 90, "tasks": ["Place both pans onto different burners. Then place the garlic and the shrimp on different pans."], "length": 1247} +{"episode_index": 91, "tasks": ["Place both pans onto different burners. Then place the bell pepper and the chicken drumstick on different pans."], "length": 1345} +{"episode_index": 92, "tasks": ["Place both pans onto different burners. Then place the onion and the steak on different pans."], "length": 1309} +{"episode_index": 93, "tasks": ["Place both pans onto different burners. Then place the bell pepper and the fish on different pans."], "length": 1062} +{"episode_index": 94, "tasks": ["Place both pans onto different burners. Then place the avocado and the steak on different pans."], "length": 1217} +{"episode_index": 95, "tasks": ["Place both pans onto different burners. Then place the sweet potato and the chicken drumstick on different pans."], "length": 1407} +{"episode_index": 96, "tasks": ["Place both pans onto different burners. Then place the corn and the chicken drumstick on different pans."], "length": 1307} +{"episode_index": 97, "tasks": ["Place both pans onto different burners. Then place the lime and the fish on different pans."], "length": 1309} +{"episode_index": 98, "tasks": ["Place both pans onto different burners. Then place the lemon and the fish on different pans."], "length": 1351} +{"episode_index": 99, "tasks": ["Place both pans onto different burners. Then place the bell pepper and the chicken drumstick on different pans."], "length": 1443} +{"episode_index": 100, "tasks": ["Place both pans onto different burners. Then place the bell pepper and the chicken drumstick on different pans."], "length": 1403} +{"episode_index": 101, "tasks": ["Place both pans onto different burners. Then place the potato and the chicken drumstick on different pans."], "length": 1007} diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..087dfdde8a630fc84338773f86f0f17d8639b204 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,102 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49952459713262115]], [[0.475709929457963]], [[0.4353771410124902]]], "std": [[[0.24447652267344686]], [[0.2622727935366147]], [[0.23716948722569456]]], "count": [237]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6465343223805955]], [[0.583012437477216]], [[0.5124744616322514]]], "std": [[[0.2148211161165029]], [[0.22933420056777795]], [[0.24776994683320988]]], "count": [237]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6605461089676343]], [[0.6021399300970471]], [[0.5360817322297458]]], "std": [[[0.22344738447256382]], [[0.23021882181123665]], [[0.24122971838034227]]], "count": [237]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1473]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1473]}, "observation.state": {"min": [0.7706648188273904, -2.5014890335215507, 0.699995293858453, 0.0, 0.0, -1.0, 8.066735546208292e-08, 0.08937886714340115, -0.6572491890653609, 0.22858737406808882, -0.9983887672424316, -0.6097577214241028, -0.2557722330093384, 1.4214047041605227e-05, 0.010426849350415714, -0.04013444264480786], "max": [0.9527359684759849, -1.717552436130466, 0.7014408049580998, 0.0, 0.0, 1.0, 0.021033667027950287, 0.43940509372646575, 0.5195189033082535, 0.5994917867256424, 0.9991752505302429, 0.6112728118896484, 0.2744576632976532, 0.16738009452819824, 0.040063698280428134, -0.006071432495222592], "mean": [0.8170645613268982, -2.109136662177816, 0.7001549607275568, 0.0, 0.0, 0.20292894870993725, 0.008133754806019796, 0.2752482489755562, -0.00858310828391312, 0.36152780982299054, 0.46983634701247773, -0.10658813936374095, 0.027383627690240504, 0.04329942212093411, 0.03303249054127886, -0.032669163565499364], "std": [0.024990822727472276, 0.30857997094007117, 0.0002107982483094735, 0.0, 0.0, 0.9791335316762126, 0.007158754981535595, 0.08615097935380646, 0.31624291536294485, 0.08739396792218734, 0.8189971045979434, 0.2710436172066224, 0.13917639901704862, 0.040952410097471435, 0.010250815224068193, 0.010582242672577168], "count": [1473]}, "action": {"min": [-0.7785714285714286, -0.8857142857142857, -0.12285714285714287, 0.0, -1.0, -1.0, -0.8500000000000001, -0.6142857142857143, -0.3457142857142857, -0.39714285714285713, -0.62, -1.0], "max": [0.6571428571428571, 0.9714285714285714, 0.13428571428571429, 0.0, 1.0, 1.0, 1.0, 0.6642857142857144, 0.13714285714285715, 0.2285714285714286, 0.33714285714285713, 1.0], "mean": [0.004684317718940935, -0.00520803025894676, -0.0008243623314906412, 0.0, -0.8357094365241005, 0.009373484628067114, 0.001745708466686062, -0.012792163708660653, -0.004624187760643974, -0.0004441858209678996, -0.00326059548055474, -0.09164969450101833], "std": [0.0921737820565482, 0.15373876647099613, 0.010786537776046205, 0.0, 0.5491718653614355, 0.19798648621639595, 0.33041443454665564, 0.2070505847694962, 0.026734839953360314, 0.0395315545112751, 0.10665882009346848, 0.9957913102140686], "count": [1473]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020366597920656204], "std": [0.1412508487701416], "count": [1473]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006788866259334691], "std": [0.02604660705125713], "count": [1473]}, "timestamp": {"min": [0.0], "max": [73.6], "mean": [36.8], "std": [21.260918763465202], "count": [1473]}, "frame_index": {"min": [0], "max": [1472], "mean": [736.0], "std": [425.21837526930403], "count": [1473]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1473]}, "index": {"min": [0], "max": [1472], "mean": [736.0], "std": [425.21837526930403], "count": [1473]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1473]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2605131093371593]], [[0.25298693460131444]], [[0.25810406853170953]]], "std": [[[0.21148456553401132]], [[0.20336216084844796]], [[0.19616674361157063]]], "count": [210]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3704846715704511]], [[0.349869591920427]], [[0.3325875595192504]]], "std": [[[0.20636302496954462]], [[0.2015235467705182]], [[0.1977824188144821]]], "count": [210]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3797591550454817]], [[0.3590454343765501]], [[0.3410071923463396]]], "std": [[[0.2111860340303195]], [[0.2069083173243858]], [[0.20399603507365627]]], "count": [210]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1256]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1256]}, "observation.state": {"min": [4.824940819967769, -4.889637667569361, 0.6999988995354312, 0.0, 0.0, -0.00029419717611745, 1.0, 0.13073112704563172, -0.6518918806943743, 0.22938546009470295, -0.9911965131759644, -0.38796359300613403, -0.4192771911621094, 8.9832472440321e-05, 0.0033548958971246793, -0.040757931589299384], "max": [4.872477754267886, -4.143031260769515, 0.704279390523271, 0.0, 0.0, 0.00033349552541039884, 1.0, 0.5257489767373782, 0.3898715556643917, 0.5990832357041374, 0.9856055974960327, 0.4494721293449402, 0.33730044960975647, 0.21340312063694, 0.04008662612385581, -0.011229526860681432], "mean": [4.845598876176145, -4.495708716353645, 0.7029303758219986, 0.0, 0.0, 3.3665121812971375e-05, 1.0, 0.33487438044071377, -0.14852107066345352, 0.3297755667312425, 0.24528650189660917, 0.04630995001999816, 0.06312099054965908, 0.058717678514732856, 0.03100911809862911, -0.03184923028359037], "std": [0.02341690506692481, 0.3656747447741554, 0.0016129942811747722, 0.0, 0.0, 0.00011593322874621925, 0.0, 0.08235749933109686, 0.2610548510098274, 0.07904913700289491, 0.9166657611270288, 0.18682209815958906, 0.23127440666497953, 0.039892706500469235, 0.011079084225184773, 0.010561806077713974], "count": [1256]}, "action": {"min": [-0.3857142857142857, 0.0, 0.0, 0.0, -1.0, -0.5571428571428572, -0.8500000000000001, -0.5785714285714286, -0.2485714285714286, -0.18, -0.43428571428571433, -1.0], "max": [0.0, 0.5, 0.0, 0.0, 1.0, 0.5428571428571429, 1.0, 0.9, 0.24285714285714288, 0.18571428571428572, 0.20285714285714287, 1.0], "mean": [-0.00543676069153776, 0.027240673339399432, 0.0, 0.0, -0.821656050955414, 0.015184258416742478, -0.016554822565969043, -0.015758644222020047, -0.003842129208371248, -0.00224977252047316, -0.0009872611464968152, -0.18949044585987262], "std": [0.03899842425010892, 0.10715847711031193, 0.0, 0.0, 0.5699836260177663, 0.1578091646890608, 0.35218039201047124, 0.2074040577646907, 0.05429982368473546, 0.04259048382720155, 0.06902065256981896, 0.9818825647335987], "count": [1256]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012738853693008423], "std": [0.11214534193277359], "count": [1256]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007961783439490446], "std": [0.02820539742662158], "count": [1256]}, "timestamp": {"min": [0.0], "max": [62.75], "mean": [31.375], "std": [18.128792706631074], "count": [1256]}, "frame_index": {"min": [0], "max": [1255], "mean": [627.5], "std": [362.5758541326215], "count": [1256]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1256]}, "index": {"min": [1473], "max": [2728], "mean": [2100.5], "std": [362.5758541326215], "count": [1256]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1256]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5461985972522699]], [[0.5330021942838477]], [[0.5230352676203973]]], "std": [[[0.3154028315437645]], [[0.314018462758869]], [[0.3135869869260432]]], "count": [236]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5982419767978778]], [[0.5905717093511134]], [[0.5816658575299491]]], "std": [[[0.2130796588562139]], [[0.21294179578882308]], [[0.21146787673093345]]], "count": [236]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5728689671038155]], [[0.566108774354427]], [[0.557940812521339]]], "std": [[[0.21974862341870433]], [[0.21872774450171856]], [[0.2169009689125427]]], "count": [236]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1461]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1461]}, "observation.state": {"min": [0.7500301151918647, -2.680995726927474, 0.6999962032239979, 0.0, 0.0, -1.0, 1.2575472965181689e-06, 0.1189046848147235, -0.5767865339949445, 0.22736416629863354, -0.9999575018882751, -0.6712265014648438, -0.27110350131988525, 1.8479506252333522e-05, -0.0005132455802317473, -0.04001773539771311], "max": [0.7799770352439743, -2.2363977166882756, 0.7029643580216881, 0.0, 0.0, 1.0, 0.005350376944988966, 0.5879104486055184, 0.2013583769793894, 0.6111663185847394, 0.9976226687431335, 0.4942026734352112, 0.22735121846199036, 0.1115637719631195, 0.04080984869350727, -0.007612478780604261], "mean": [0.7599452763893649, -2.549810069329157, 0.7014956404910424, 0.0, 0.0, -0.5605737820298275, 0.0013293246569785753, 0.328109898812406, -0.20810475142093424, 0.35909914715834473, -0.09244011494494887, -0.02934562122228719, 0.018863559223871333, 0.04302991819831775, 0.03044492197492735, -0.030930948820088462], "std": [0.013032132763376768, 0.20132378002784931, 0.0008718522638052473, 0.0, 0.0, 0.828103043342377, 0.0008260302479783951, 0.12262540393333712, 0.22383930005946723, 0.09884097360348945, 0.9606708346167337, 0.22346326789066923, 0.12080697152684268, 0.0311069715288343, 0.012042206428760527, 0.011625917701638781], "count": [1461]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7642857142857143, -0.807142857142857, -0.5357142857142857, -0.11714285714285716, -0.2285714285714286, -0.4885714285714286, -1.0], "max": [0.44285714285714284, 0.8, 0.05428571428571429, 0.0, 1.0, 0.5214285714285715, 1.0, 1.0, 0.12, 0.1457142857142857, 0.32, 1.0], "mean": [0.003725432678204752, 0.010125158893126039, 0.00015058179329226556, 0.0, -0.9425051334702259, 0.011714090153515202, -0.012427886965874673, -0.019947198591962433, 0.0008017991590886862, 0.0001955607705094367, -0.002063166128874548, -0.2032854209445585], "std": [0.03631429630486272, 0.08187289282142475, 0.0025469010691819578, 0.0, 0.3341916716231344, 0.18044984708526854, 0.28630580474113904, 0.21281528021798965, 0.022784785959525312, 0.03949980990231135, 0.0862107837859269, 0.9791195216271692], "count": [1461]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01095140352845192], "std": [0.10407434403896332], "count": [1461]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006844626967830253], "std": [0.02615328292202984], "count": [1461]}, "timestamp": {"min": [0.0], "max": [73.0], "mean": [36.5], "std": [21.087713642466472], "count": [1461]}, "frame_index": {"min": [0], "max": [1460], "mean": [730.0], "std": [421.7542728493295], "count": [1461]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1461]}, "index": {"min": [2729], "max": [4189], "mean": [3459.0], "std": [421.7542728493295], "count": [1461]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1461]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4180066453334429]], [[0.4083300763327391]], [[0.4060922868213182]]], "std": [[[0.17220751232299972]], [[0.16186761062641328]], [[0.16099033632623422]]], "count": [207]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4232703407390942]], [[0.40178139778636585]], [[0.39562631910403045]]], "std": [[[0.18941087288659458]], [[0.20485649409334888]], [[0.2123160770325559]]], "count": [207]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42595489117484253]], [[0.405054868969308]], [[0.3990811827011809]]], "std": [[[0.18617016613891546]], [[0.2015504658527649]], [[0.20893703389318466]]], "count": [207]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1227]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1227]}, "observation.state": {"min": [0.15823160124556243, -4.632045093470695, 0.6999985976717437, 0.0, 0.0, -1.0, 0.0, 0.2025041904937055, -0.4577484894706556, 0.23014604436678499, -0.9970055818557739, -0.5497263669967651, -0.40290194749832153, 0.0003960805479437113, 0.005837036829867814, -0.04051566471216697], "max": [0.21445043457374027, -3.645190296600265, 0.70491041464198, 0.0, 0.0, 1.0, 0.0005536724347621202, 0.6057392591741431, 0.5965037311555115, 0.6206149409791105, 0.9928323030471802, 0.415065735578537, 0.22926010191440582, 0.19695720076560974, 0.04047220513262725, -0.009266849381200955], "mean": [0.19899301831750843, -4.18722217393862, 0.7022425243040964, 0.0, 0.0, 0.04156479441060608, 0.0001247458737721896, 0.3667912219929719, 0.04202534320878521, 0.36297944161549484, -0.41382358578423123, -0.013962490804426634, -0.08101037680484527, 0.07391755451510312, 0.032761035854200656, -0.031761136517962196], "std": [0.013716595022699533, 0.4682312698612108, 0.0014159456328619797, 0.0, 0.0, 0.9991358082845847, 8.961327447846319e-05, 0.09345825919929644, 0.2147364585312468, 0.09572192727399101, 0.8613088435792197, 0.2032212813054074, 0.17345436565087155, 0.057361789017033385, 0.01044959003655642, 0.010793571252309026], "count": [1227]}, "action": {"min": [-0.3785714285714286, -0.6, 0.0, 0.0, -1.0, -0.8357142857142857, -0.9, -0.6928571428571428, -0.18857142857142858, -0.2571428571428571, -0.3628571428571429, -1.0], "max": [0.0, 0.5, 0.0, 0.0, 1.0, 0.6642857142857144, 1.0, 0.8500000000000001, 0.18857142857142858, 0.23714285714285716, 0.38857142857142857, 1.0], "mean": [-0.012370473861916411, -0.014530213063220413, 0.0, 0.0, -0.6837815810920945, 0.012399580859238585, 0.02394923739667016, -0.015997205728257045, 0.0013691931540342308, -0.0031621841890790547, 0.0012038654092443816, -0.2371638141809291], "std": [0.048301999757427404, 0.1579068529882323, 0.0, 0.0, 0.7296867474191839, 0.2291577687483458, 0.36614298274861407, 0.2330657122467435, 0.04455616344576388, 0.04769203956523471, 0.09174511365902129, 0.9714696728375823], "count": [1227]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020374897867441177], "std": [0.14127901196479797], "count": [1227]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008149959250203749], "std": [0.028536497799529905], "count": [1227]}, "timestamp": {"min": [0.0], "max": [61.3], "mean": [30.650000000000002], "std": [17.710213625664334], "count": [1227]}, "frame_index": {"min": [0], "max": [1226], "mean": [613.0], "std": [354.2042725132867], "count": [1227]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1227]}, "index": {"min": [4190], "max": [5416], "mean": [4803.0], "std": [354.2042725132867], "count": [1227]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1227]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5517192652778654]], [[0.5376823383560186]], [[0.525370520071922]]], "std": [[[0.2997707861801782]], [[0.3060686056661959]], [[0.3178036811794925]]], "count": [233]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6890008289645659]], [[0.6529673027328136]], [[0.6222469870112997]]], "std": [[[0.2555970956850529]], [[0.23636223037250184]], [[0.22646352256422325]]], "count": [233]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6872790276176608]], [[0.6518305615986336]], [[0.6213895419405775]]], "std": [[[0.25193909815587523]], [[0.2333739753931486]], [[0.2242206026533641]]], "count": [233]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1434]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1434]}, "observation.state": {"min": [2.174891082420214, -1.0263486747743378, 0.6999966822800052, 0.0, 0.0, 0.6968103647232056, 0.6989151835441589, 0.06939914114799506, -0.6304883550447578, 0.22657334636625792, -0.9957717061042786, -0.563258707523346, -0.2790001928806305, 0.0001832540874602273, 0.011645141513301304, -0.040269480768262096], "max": [3.697383891868894, -0.7470076150557112, 0.7034548422075939, 0.0, 0.0, 0.715204656124115, 0.7172554731369019, 0.38136872549927314, 0.25176892365450065, 0.5757737099664849, 0.9996647834777832, 0.4878538250923157, 0.3728090226650238, 0.261290967464447, 0.0414173088606345, 0.001153514517720084], "mean": [2.9372501694855755, -0.8007880362738018, 0.7008005679048193, 0.0, 0.0, 0.7057164684665419, 0.7084852426703837, 0.21872334387736622, -0.10905047061621177, 0.3801612255378035, 0.4551333829531942, -0.09226010686677662, 0.10196942935705527, 0.05405453082680924, 0.030981375927904797, -0.030587625791931243], "std": [0.5291315890966227, 0.06133650423298932, 0.0009416282376466828, 0.0, 0.0, 0.0025514959648027797, 0.002531780823707502, 0.0879669590754398, 0.1874569601964958, 0.1010135854426448, 0.8418287253807407, 0.2084121101734755, 0.12177416741405298, 0.06388942299881917, 0.011168108205156273, 0.011530188921203395], "count": [1434]}, "action": {"min": [-0.8571428571428572, -1.0, -0.10571428571428572, 0.0, -1.0, -0.7428571428571429, -0.6714285714285714, -0.6, -0.1457142857142857, -0.24, -0.38, -1.0], "max": [0.5785714285714286, 1.0, 0.08571428571428572, 0.0, 1.0, 0.6571428571428571, 0.8714285714285716, 0.7214285714285715, 0.18571428571428572, 0.18, 0.4028571428571428, 1.0], "mean": [0.016233313409045623, -0.0014096433552500483, -0.0009982068141063955, 0.0, -0.5216178521617852, 0.008761705519027696, 0.0064156206415620694, -0.020766088862323204, 0.0009005778043434945, 0.00045427375971308936, -0.00019127316198446268, -0.21617852161785217], "std": [0.15124724446872728, 0.28506982694389255, 0.011688117870987759, 0.0, 0.8531792404331752, 0.2108890440070528, 0.2162739941117716, 0.2240441469257232, 0.027047159724837254, 0.03692995744731033, 0.07977623521889148, 0.9763538532679089], "count": [1434]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01115760114043951], "std": [0.1050386056303978], "count": [1434]}, "next.done": {"min": [false], "max": [true], "mean": [0.000697350069735007], "std": [0.026398177448741563], "count": [1434]}, "timestamp": {"min": [0.0], "max": [71.65], "mean": [35.825], "std": [20.69800211775684], "count": [1434]}, "frame_index": {"min": [0], "max": [1433], "mean": [716.5], "std": [413.9600423551368], "count": [1434]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1434]}, "index": {"min": [5417], "max": [6850], "mean": [6133.5], "std": [413.9600423551368], "count": [1434]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1434]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49729173921648684]], [[0.4805401950074256]], [[0.47000799359733303]]], "std": [[[0.28336743645531576]], [[0.2995828595519791]], [[0.3206738075224057]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6182797223293228]], [[0.561793210929819]], [[0.5299299587267927]]], "std": [[[0.20949335236396016]], [[0.23906970996485635]], [[0.2695391334688876]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6323512900426326]], [[0.5694051333277728]], [[0.531987501376621]]], "std": [[[0.1995560877139693]], [[0.23068665003824915]], [[0.26378659673038657]]], "count": [177]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [996]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [996]}, "observation.state": {"min": [3.3900665764410256, -3.6570837833627827, 0.6999948709809326, 0.0, 0.0, 0.7045766115188599, 0.7051210999488831, 0.15770368613030206, -0.44251647276689354, 0.22751819564605202, -0.998714029788971, -0.3285718858242035, -0.15518230199813843, 7.162104884628206e-05, 0.00195990646575118, -0.039960821892971954], "max": [3.90371096521324, -3.629114687967653, 0.7020804970586535, 0.0, 0.0, 0.7090868353843689, 0.7096279263496399, 0.6127976461433069, 0.3542782588781388, 0.6067951038735292, 0.996699869632721, 0.3331471085548401, 0.15573276579380035, 0.045566387474536896, 0.04006035276559967, -0.007469954151183347], "mean": [3.655290290538972, -3.64523503003511, 0.7013167035410856, 0.0, 0.0, 0.7069112918822162, 0.7073017875233807, 0.40773010688078104, -0.10485491838042818, 0.3672390095318962, -0.3699003890096902, -0.004152939060186765, -0.028816146027386844, 0.014209548098448746, 0.027971267369613625, -0.02807351394975924], "std": [0.25465226209400643, 0.010584851442895402, 0.0008536372447722583, 0.0, 0.0, 0.0005523773561197549, 0.0005518178683589725, 0.10729911894605819, 0.2105065616560253, 0.09713184190166659, 0.905270996083189, 0.18433678552512497, 0.09249330257090796, 0.00857519564277854, 0.013060706640011572, 0.01291519877423692], "count": [996]}, "action": {"min": [-0.23571428571428574, 0.0, -0.045714285714285714, 0.0, -1.0, -0.7928571428571428, -0.8142857142857143, -0.6500000000000001, -0.09714285714285714, -0.16857142857142857, -0.26285714285714284, -1.0], "max": [0.44285714285714284, 0.9285714285714287, 0.05428571428571429, 0.0, 1.0, 0.6785714285714286, 1.0, 1.0, 0.07428571428571429, 0.20857142857142857, 0.4371428571428572, 1.0], "mean": [0.006590648307515775, 0.021113023522662068, -5.737234652897289e-06, 0.0, -0.891566265060241, 0.022203098106712525, -0.017168674698795187, -0.014995697074010243, 0.0020625358577165817, 0.0032415375788869783, -0.0014056224899598399, -0.12048192771084337], "std": [0.05499450799484613, 0.11229258676446827, 0.0041149733121479065, 0.0, 0.4528902681737943, 0.2534644681158233, 0.3422498436589685, 0.3314267939659566, 0.01701567924919549, 0.03713998531282102, 0.07698518425469619, 0.9927155207284022], "count": [996]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01606425642967224], "std": [0.12572269141674042], "count": [996]}, "next.done": {"min": [false], "max": [true], "mean": [0.001004016064257028], "std": [0.03167030179836848], "count": [996]}, "timestamp": {"min": [0.0], "max": [49.75], "mean": [24.875], "std": [14.376014456958043], "count": [996]}, "frame_index": {"min": [0], "max": [995], "mean": [497.5], "std": [287.52028913916087], "count": [996]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [996]}, "index": {"min": [6851], "max": [7846], "mean": [7348.5], "std": [287.52028913916087], "count": [996]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [996]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49695131363895934]], [[0.4435756854722209]], [[0.3895786161999495]]], "std": [[[0.24324019131825972]], [[0.22646158031043304]], [[0.21413722756650197]]], "count": [237]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45017041392329116]], [[0.4890700287801945]], [[0.4818510167738971]]], "std": [[[0.2049193243051193]], [[0.1809240722577068]], [[0.18478494998350162]]], "count": [237]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4404652968957642]], [[0.4819437395128806]], [[0.47690524595728817]]], "std": [[[0.20167976197485188]], [[0.18115001472237627]], [[0.18584796775638932]]], "count": [237]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1467]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1467]}, "observation.state": {"min": [0.810428450444953, -2.759991366979649, 0.6999975884791665, 0.0, 0.0, 0.9999330043792725, 9.10698581719771e-05, 0.11358208550906823, -0.6338706284574782, 0.2238098759033036, -0.9921866655349731, -0.3532859683036804, -0.3750089704990387, 6.425612809835002e-05, 0.0007518297946927184, -0.04131914931043784], "max": [0.8898361826656721, -2.2020731779347207, 0.7096448719703246, 0.0, 0.0, 1.0, 0.011581182479858398, 0.7532350694616368, 0.5600647996741763, 0.5988800676484175, 0.9908145070075989, 0.5172695517539978, 0.3804563879966736, 0.3438092768192291, 0.04129054434558367, -0.012434834060909478], "mean": [0.8506515106382926, -2.4752978549466294, 0.7052942891889497, 0.0, 0.0, 0.9999646496919036, 0.0075899345680740605, 0.3946930533117705, 0.08205613265288086, 0.3076489749411761, -0.17950879897726743, 0.03983110369734806, -0.022337918886540287, 0.09269783644199345, 0.03278262729888133, -0.03401407504768178], "std": [0.03753449170781762, 0.27237709383050324, 0.0030961309697485223, 0.0, 0.0, 1.948868092490297e-05, 0.0036249932849154137, 0.15678006049268142, 0.31103239729198556, 0.06423067843996587, 0.9187250884630421, 0.23303132227823403, 0.23231948105072805, 0.06903965758625914, 0.011235868595061045, 0.00957483948528528], "count": [1467]}, "action": {"min": [-0.5285714285714286, -0.3, 0.0, 0.0, -1.0, -0.9785714285714284, -0.7357142857142858, -0.7428571428571429, -0.36, -0.23428571428571432, -0.26285714285714284, -1.0], "max": [0.16428571428571428, 0.5142857142857143, 0.0, 0.0, 1.0, 0.7857142857142857, 0.942857142857143, 0.5928571428571429, 0.29428571428571426, 0.16857142857142857, 0.38, 1.0], "mean": [-0.0015678254942058617, 0.018468205278021226, 0.0, 0.0, -0.8732106339468303, 0.0026195345213750006, -0.007649235563345982, -0.040631999220956304, 0.003696562469568603, -0.002089784789171293, -0.0027656052195929514, -0.14792092706203136], "std": [0.03620767501649855, 0.08906599972484915, 0.0, 0.0, 0.48734298883043864, 0.28115202435602143, 0.3440685372080333, 0.17976286102039163, 0.06421944511951187, 0.0484938736473469, 0.07870074059469527, 0.9889991907666507], "count": [1467]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021813225001096725], "std": [0.14607331156730652], "count": [1467]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006816632583503749], "std": [0.02609978148476707], "count": [1467]}, "timestamp": {"min": [0.0], "max": [73.3], "mean": [36.65], "std": [21.174316203048132], "count": [1467]}, "frame_index": {"min": [0], "max": [1466], "mean": [733.0], "std": [423.48632406096266], "count": [1467]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1467]}, "index": {"min": [7847], "max": [9313], "mean": [8580.0], "std": [423.48632406096266], "count": [1467]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1467]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4884040616575556]], [[0.477138849086763]], [[0.46399493319572205]]], "std": [[[0.2719256907983294]], [[0.2757147734843129]], [[0.2734371404553171]]], "count": [239]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5484652857929505]], [[0.5404471157436072]], [[0.5294475605806849]]], "std": [[[0.22074147758488158]], [[0.2162994589006432]], [[0.20891015840978883]]], "count": [239]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5705886589198637]], [[0.5610777541722428]], [[0.5484409889035292]]], "std": [[[0.2262079641844931]], [[0.21937580566505827]], [[0.20988755111893256]]], "count": [239]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1491]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1491]}, "observation.state": {"min": [3.5698955548649756, -3.739680473080761, 0.699996781536894, 0.0, 0.0, 0.7070261836051941, 0.7066460251808167, 0.193893218468975, -0.7191117828941307, 0.2280820880061003, -0.9957740902900696, -0.3991217017173767, -0.44801434874534607, 0.00013857324665877968, 0.0010851753856396902, -0.04052205050245639], "max": [4.098197377048675, -3.6929507317589856, 0.7029412352699895, 0.0, 0.0, 0.7075672149658203, 0.7071873545646667, 0.6384565404917408, 0.39193098028602247, 0.6064132266758763, 0.9960507750511169, 0.4126024842262268, 0.46577736735343933, 0.31477898359298706, 0.04000856247867381, -0.006311629382910519], "mean": [3.810138497803531, -3.7155297937066654, 0.7018958825469125, 0.0, 0.0, 0.7072512622570368, 0.7069621998379488, 0.40441106692524037, -0.08365657157814946, 0.3923978825207807, 0.06897060364224941, 0.0018514462619879995, 0.008512276407808446, 0.06534759472979045, 0.02913568273726526, -0.029790383975506263], "std": [0.2592712756162566, 0.023269820005642955, 0.0009497325103023844, 0.0, 0.0, 0.0001499971625452833, 0.00015005541575189888, 0.12303278186956665, 0.2532237797979914, 0.11265107831804068, 0.9412571194098533, 0.21286853940620545, 0.2392521809547421, 0.04875730704734985, 0.013283362667017825, 0.013144170045563197], "count": [1491]}, "action": {"min": [-0.55, -0.46428571428571436, 0.0, 0.0, -1.0, -0.8214285714285715, -0.6214285714285714, -0.5714285714285715, -0.45999999999999996, -0.2142857142857143, -0.5857142857142857, -1.0], "max": [0.0, 0.0, 0.014285714285714287, 0.0, 1.0, 0.6642857142857144, 1.0, 0.9785714285714284, 0.33714285714285713, 0.24, 0.6571428571428571, 1.0], "mean": [-0.0022995113538373095, -0.022075308996838173, 1.1497556769186548e-05, 0.0, -0.8511066398390342, 0.022837022132796755, 0.014022228609753806, -0.004761904761904759, -0.007981220657277004, -0.002104052888761138, 0.001107597968764962, -0.16297786720321933], "std": [0.028616588362445173, 0.08913343854095446, 0.00037711869357662334, 0.0, 0.524992845305452, 0.22508646434091983, 0.3057398906120868, 0.2811620762697341, 0.07190396083735275, 0.05726524272962811, 0.09951392103098203, 0.9866297252778795], "count": [1491]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010731052607297897], "std": [0.10303347557783127], "count": [1491]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006706908115358819], "std": [0.025889012831145246], "count": [1491]}, "timestamp": {"min": [0.0], "max": [74.5], "mean": [37.25], "std": [21.52072644374875], "count": [1491]}, "frame_index": {"min": [0], "max": [1490], "mean": [745.0], "std": [430.41452887497496], "count": [1491]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1491]}, "index": {"min": [9314], "max": [10804], "mean": [10059.0], "std": [430.41452887497496], "count": [1491]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1491]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.03529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5104331455408051]], [[0.49136044919178057]], [[0.470337568632665]]], "std": [[[0.21979589535020597]], [[0.21090400350347316]], [[0.20582557697289539]]], "count": [213]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6223187789067175]], [[0.587291114018414]], [[0.5456483343869384]]], "std": [[[0.18443613097567174]], [[0.17203535157684632]], [[0.1727588773259582]]], "count": [213]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6199847482904088]], [[0.5847174865615903]], [[0.5431807992691647]]], "std": [[[0.19442255597296376]], [[0.18104814194439017]], [[0.1809386219537234]]], "count": [213]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1276]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1276]}, "observation.state": {"min": [0.7656032447442117, -4.8163459011655, 0.69999611170478, 0.0, 0.0, -1.0, 1.6983479156351677e-07, 0.210134892363955, -0.6426106167321981, 0.22953817256275388, -0.9996966123580933, -0.6478167772293091, -0.14771121740341187, 7.134916813811287e-05, 0.01182877171235545, -0.04047477113671177], "max": [0.8803505659247784, -3.624326855631611, 0.7008195170594314, 0.0, 0.0, 1.0, 0.04802883043885231, 0.5135210175740978, 0.4554562504316815, 0.5905704577451346, 0.9999220371246338, 0.5098832249641418, 0.21764254570007324, 0.16818386316299438, 0.04008824623451279, -0.012014267504160146], "mean": [0.7839546348894935, -4.303702923057616, 0.7004718923072772, 0.0, 0.0, 0.7473816734776602, 0.019865797445147142, 0.3285241646025586, -0.02904850029143615, 0.3399778283474914, -0.1380940920039778, -0.07219179303437868, 0.01431756651105719, 0.047150963389143506, 0.031859927170224504, -0.03149872256840781], "std": [0.016160993350104437, 0.49623528137233097, 0.0002226636972639069, 0.0, 0.0, 0.6639926863042709, 0.011820162797379002, 0.07614545655085524, 0.31274297517469213, 0.06902307638118976, 0.955450688925293, 0.2332215756598314, 0.06647389781516289, 0.03991315336200399, 0.010167365039990668, 0.010327970213023844], "count": [1276]}, "action": {"min": [-0.5571428571428572, -0.9357142857142857, -0.3, 0.0, -1.0, -0.9, -0.95, -0.5071428571428571, -0.1457142857142857, -0.33714285714285713, -0.34, -1.0], "max": [0.46428571428571436, 1.0, 0.17142857142857143, 0.0, 1.0, 0.7071428571428572, 0.9714285714285714, 0.7785714285714286, 0.17714285714285713, 0.19714285714285715, 0.3657142857142857, 1.0], "mean": [0.0023231079265562038, 0.009309225257501122, -0.0010770264218540086, 0.0, -0.7852664576802508, 0.014638378862516795, -0.014470443349753675, -0.006689431258396753, 0.003858038513210931, -0.0005553067622033137, 7.165248544558724e-05, -0.1833855799373041], "std": [0.09020197736656307, 0.18743002726674843, 0.02425285343019647, 0.0, 0.619157968891878, 0.20804195610747572, 0.3440793859889104, 0.18865398919769663, 0.039500140290151066, 0.04728626962798045, 0.09029154711031201, 0.9830410617421178], "count": [1276]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018025077879428864], "std": [0.13304200768470764], "count": [1276]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007836990595611285], "std": [0.027983653716860696], "count": [1276]}, "timestamp": {"min": [0.0], "max": [63.75], "mean": [31.875], "std": [18.417467931287405], "count": [1276]}, "frame_index": {"min": [0], "max": [1275], "mean": [637.5], "std": [368.3493586257481], "count": [1276]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1276]}, "index": {"min": [10805], "max": [12080], "mean": [11442.5], "std": [368.3493586257481], "count": [1276]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1276]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4992726846722203]], [[0.47916984545427843]], [[0.46871340552926183]]], "std": [[[0.27622162284954194]], [[0.27564631749901425]], [[0.26636851033506415]]], "count": [236]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5836185281638807]], [[0.5655506140372015]], [[0.5455837000006654]]], "std": [[[0.27249402591069494]], [[0.25525203970335697]], [[0.23528996392625823]]], "count": [236]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5881126074190353]], [[0.5700202799905134]], [[0.550591175387412]]], "std": [[[0.26678134435604334]], [[0.2502407948418767]], [[0.23135213176570676]]], "count": [236]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1465]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1465]}, "observation.state": {"min": [4.234941152807498, -2.809626661951497, 0.6999949634220529, 0.0, 0.0, -0.03629250451922417, 0.9992311000823975, 0.057125634678585335, -0.5083601362289132, 0.22256353174820287, -0.9992907047271729, -0.6941745281219482, -0.19307583570480347, 5.776165198767558e-05, 0.003223497049979781, -0.04150760996366776], "max": [4.41611193770732, -1.2542071075169927, 0.7091769566466433, 0.0, 0.0, 0.03920547291636467, 1.0, 0.49744173315128926, 0.43047442314758166, 0.5730582296700509, 0.9998541474342346, 0.2666202187538147, 0.3299885094165802, 0.21374356746673584, 0.040331691931944164, -0.008147179751783721], "mean": [4.379454003270092, -2.0357916125218947, 0.7054800965623237, 0.0, 0.0, -0.0015326086613316279, 0.9998911128516084, 0.2647823736523751, -0.08908539312130148, 0.3368734974943041, 0.06992709986585806, -0.10097711721606832, 0.025787112115224373, 0.031251394030215485, 0.029166153053653197, -0.03125235815665401], "std": [0.031145523984848662, 0.4192689298639436, 0.0034175668616376062, 0.0, 0.0, 0.014676836483709215, 0.00021605837206040227, 0.11010152315375585, 0.19034772149912177, 0.08483530115785803, 0.9594614626603264, 0.2031773794654576, 0.1402404736173831, 0.041922061116835344, 0.011557211716481114, 0.010969224239988475], "count": [1465]}, "action": {"min": [-0.5928571428571429, -0.807142857142857, -0.07142857142857142, 0.0, -1.0, -0.8357142857142857, -0.8571428571428572, -0.55, -0.15142857142857147, -0.20285714285714287, -0.5371428571428571, -1.0], "max": [0.8285714285714285, 1.0, 0.2885714285714286, 0.0, 1.0, 0.9071428571428573, 0.9357142857142857, 0.7642857142857143, 0.12, 0.1657142857142857, 0.26857142857142857, 1.0], "mean": [0.008093612871769866, 0.0011214041930765466, 0.003424670892247685, 0.0, -0.6177474402730375, 0.008117991223793258, 0.022696245733788405, -0.03215017064846414, 0.00017747440273037469, -0.001985372988785957, -0.002958556801560208, 0.026621160409556314], "std": [0.12023302876780394, 0.23637592311423072, 0.03201511077279135, 0.0, 0.7863765637632613, 0.24088760955024532, 0.22167087422640466, 0.22498328267585258, 0.022463126038659655, 0.030923976559860452, 0.08837987982641393, 0.9996455941074659], "count": [1465]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011604095809161663], "std": [0.10709547251462936], "count": [1465]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006825938566552901], "std": [0.026117578798237534], "count": [1465]}, "timestamp": {"min": [0.0], "max": [73.2], "mean": [36.6], "std": [21.145448682872633], "count": [1465]}, "frame_index": {"min": [0], "max": [1464], "mean": [732.0], "std": [422.9089736574527], "count": [1465]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1465]}, "index": {"min": [12081], "max": [13545], "mean": [12813.0], "std": [422.9089736574527], "count": [1465]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1465]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4580536273972718]], [[0.44600715071661284]], [[0.4458145516686095]]], "std": [[[0.31141098569784]], [[0.31234055642940733]], [[0.315768499672126]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6010722721050596]], [[0.5111848914549146]], [[0.4477314837842054]]], "std": [[[0.27722709326720923]], [[0.2935848968442415]], [[0.2928857716585676]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5982132333092345]], [[0.5158649131158275]], [[0.4528152137438912]]], "std": [[[0.2981407783426747]], [[0.3022697985610059]], [[0.2939045507386923]]], "count": [205]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1213]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1213]}, "observation.state": {"min": [0.7703166815893461, -3.5646082188768884, 0.6999964930418987, 0.0, 0.0, -1.0, 9.973533110496646e-08, 0.16413263488297725, -0.7791734897122717, 0.22879980526720756, -0.9979488253593445, -0.7682815194129944, -0.19931253790855408, 1.2319895176915452e-05, 0.001271652004941906, -0.04006157003569946], "max": [0.8418846450227631, -3.1207123870321345, 0.7010088796923737, 0.0, 0.0, 1.0, 0.011300215497612953, 0.4440227026852561, 0.20944877980104604, 0.5748337360825029, 0.9932827949523926, 0.7706061005592346, 0.31177395582199097, 0.09561911970376968, 0.040200711764162955, -0.012351965760823602], "mean": [0.7807314530873708, -3.327040338157897, 0.7004078911841869, 0.0, 0.0, -0.6487999062644285, 0.0021778060345486188, 0.2977073106569203, -0.2968007089659695, 0.33358316462713633, -0.11197025605891228, -0.025830723891942242, 0.01218050603689269, 0.028755603727282912, 0.029462463620055567, -0.028726959873702978], "std": [0.00901116576355027, 0.219729500308048, 0.0003047920252220129, 0.0, 0.0, 0.7609527635991836, 0.002208965163160222, 0.057083353494538226, 0.2731788470317517, 0.08183592826158677, 0.9504226424706468, 0.2607259741425394, 0.11723388391940427, 0.02819877052077578, 0.011011113830388684, 0.01123214458837128], "count": [1213]}, "action": {"min": [-0.5428571428571429, -0.1, -0.07714285714285714, 0.0, -1.0, -0.8214285714285715, -0.6500000000000001, -0.45, -0.13142857142857142, -0.11142857142857143, -0.54, -1.0], "max": [0.5857142857142857, 0.8857142857142857, 0.11714285714285716, 0.0, 1.0, 0.5928571428571429, 0.9285714285714287, 0.6, 0.16857142857142857, 0.15142857142857147, 0.28, 1.0], "mean": [0.005505829702037452, 0.013243434224472973, 0.00048050877399599576, 0.0, -0.9126133553173948, 0.009427629254504782, -0.011671181250736058, -0.009934047815333913, -0.0013802850076551655, -0.0010222588623248123, -0.0006548109763278786, -0.02720527617477329], "std": [0.06898185152485335, 0.0908459652177205, 0.006653318459495014, 0.0, 0.4088237562768702, 0.15227355546531926, 0.28292237082521404, 0.19046393432680134, 0.02246586896983138, 0.029053838016687924, 0.09537714726996903, 0.9996298679752728], "count": [1213]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020610056817531586], "std": [0.14207494258880615], "count": [1213]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008244023083264633], "std": [0.028700569143494163], "count": [1213]}, "timestamp": {"min": [0.0], "max": [60.6], "mean": [30.299999999999994], "std": [17.508140963563207], "count": [1213]}, "frame_index": {"min": [0], "max": [1212], "mean": [606.0], "std": [350.16281927126414], "count": [1213]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1213]}, "index": {"min": [13546], "max": [14758], "mean": [14152.0], "std": [350.16281927126414], "count": [1213]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1213]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6332532382131857]], [[0.6292152120618136]], [[0.5857239503792698]]], "std": [[[0.25437612346690885]], [[0.2530821550806137]], [[0.22901342208938874]]], "count": [229]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5687344545615394]], [[0.517714421432081]], [[0.47787008977158857]]], "std": [[[0.23475986466900373]], [[0.2625459794442652]], [[0.2693562920658666]]], "count": [229]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5704969527470514]], [[0.5172051572893589]], [[0.47508788848231537]]], "std": [[[0.23693292062833357]], [[0.2648749211347575]], [[0.2732547139755615]]], "count": [229]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1402]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1402]}, "observation.state": {"min": [2.244611041535452, -1.7613979081110787, 0.6999954249397161, 0.0, 0.0, -0.717950165271759, 0.6960945129394531, 0.0781161444088756, -0.20871681599280834, 0.2301418030370811, -0.9982467889785767, -0.44525957107543945, -0.2865697741508484, 1.124471782532055e-05, 0.012153856856064144, -0.04024735630823598], "max": [4.1190791037867704, -1.5074555763013722, 0.7013126356962986, 0.0, 0.0, -0.7007061839103699, 0.7134499549865723, 0.5102117789733644, 0.7782292672530042, 0.6202179866300326, 0.998805820941925, 0.40028443932533264, 0.1274367868900299, 0.2548823058605194, 0.04008101824046795, -0.011705912752752007], "mean": [3.1276797612517067, -1.7088499575393237, 0.7002452468502499, 0.0, 0.0, -0.7088146097904945, 0.7053712218702265, 0.30174294357403036, 0.16292341172337427, 0.3898506493124201, -0.8573224265633228, -0.004070983251049243, -0.07800781140741646, 0.05084630510672431, 0.029156860873298118, -0.02926741746346575], "std": [0.48132555674189365, 0.05041528379791176, 0.00024627879786496876, 0.0, 0.0, 0.004062751594697393, 0.004096107498101365, 0.10576447095889005, 0.2512082924020579, 0.10632422074336424, 0.4725222611298011, 0.16155474778962617, 0.06613304421730092, 0.050599556608576644, 0.011385144764449844, 0.011365863531270212], "count": [1402]}, "action": {"min": [-0.7571428571428572, -1.0, -0.11142857142857143, 0.0, -1.0, -0.8785714285714286, -1.0, -0.5571428571428572, -0.09428571428571429, -0.42, -0.3485714285714286, -1.0], "max": [0.75, 1.0, 0.05142857142857143, 0.0, 1.0, 0.95, 0.9642857142857144, 1.0, 0.21142857142857144, 0.20857142857142857, 0.29428571428571426, 1.0], "mean": [0.006037293662115348, -0.009868555125331153, -0.0010332178520480945, 0.0, -0.6733238231098431, 0.011264520073364597, -0.009466068881190105, -0.016787242714489482, 0.006578357448542899, -0.0007560627674750382, -0.0010495210923171013, -0.039942938659058486], "std": [0.14369955068538537, 0.2726730534793568, 0.011804904186761611, 0.0, 0.7393477052326253, 0.2725698243878191, 0.3065331129785669, 0.2584157356409372, 0.036408678181872704, 0.05571346664024714, 0.0754821980471771, 0.9992019623936339], "count": [1402]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018544936552643776], "std": [0.1349111646413803], "count": [1402]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007132667617689016], "std": [0.026697528205724536], "count": [1402]}, "timestamp": {"min": [0.0], "max": [70.05], "mean": [35.025], "std": [20.236121787536266], "count": [1402]}, "frame_index": {"min": [0], "max": [1401], "mean": [700.5], "std": [404.72243575072537], "count": [1402]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1402]}, "index": {"min": [14759], "max": [16160], "mean": [15459.5], "std": [404.72243575072537], "count": [1402]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1402]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4666175857880103]], [[0.41792753428836693]], [[0.3944222685841123]]], "std": [[[0.25919666896257526]], [[0.22347863729823056]], [[0.20416249085279872]]], "count": [259]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5835343836185762]], [[0.5575835507014778]], [[0.524108269620929]]], "std": [[[0.22884110780137445]], [[0.21828808772108588]], [[0.2060407601133188]]], "count": [259]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6151238551137305]], [[0.5836817482416847]], [[0.5466749138290241]]], "std": [[[0.2048461511760358]], [[0.19619212924852528]], [[0.18818788835182884]]], "count": [259]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1654]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1654]}, "observation.state": {"min": [0.7613892805769589, -2.392262146357408, 0.699998335860342, 0.0, 0.0, -1.0, 0.00010780227603390813, 0.18308881531152355, -0.5733139878510212, 0.22872292931962035, -0.999614953994751, -0.8565815091133118, -0.15513740479946136, 1.4781033314648084e-05, 0.008153159050365703, -0.0404018400675219], "max": [0.8500134285000862, -1.808861296028909, 0.7018548439113867, 0.0, 0.0, 1.0, 0.010289064608514309, 0.5189043175740421, 0.42144140316538836, 0.5852627396105379, 0.9995868802070618, 0.8594198226928711, 0.16033875942230225, 0.10041970759630203, 0.040249110364943295, -0.010365474144995501], "mean": [0.7773003515309225, -1.9569383086952108, 0.7008581273975996, 0.0, 0.0, -0.5162922188621623, 0.006940932014299753, 0.33639756556965233, -0.049648766605968106, 0.3277868216091098, -0.07196042010112426, 0.04999376945940839, 0.010191167879977326, 0.033495379166629584, 0.029326411425914335, -0.029424271091666777], "std": [0.02249033895442477, 0.2507989805563744, 0.0004507072970661044, 0.0, 0.0, 0.8563752952419077, 0.00394735246720975, 0.09269269682003789, 0.2736798325768917, 0.0665942957640894, 0.921437759950754, 0.3637800441371991, 0.09444718858842456, 0.028156413316856668, 0.011951387127413787, 0.01192470094893391], "count": [1654]}, "action": {"min": [-0.37142857142857144, -0.9571428571428572, 0.0, 0.0, -1.0, -0.7357142857142858, -0.807142857142857, -0.4357142857142858, -0.15428571428571428, -0.18285714285714286, -0.4, -1.0], "max": [0.46428571428571436, 0.007142857142857143, 0.037142857142857144, 0.0, 1.0, 0.46428571428571436, 0.8714285714285716, 0.5642857142857142, 0.06571428571428571, 0.18, 0.18857142857142858, 1.0], "mean": [0.0027336327517706, -0.011975297978925546, 0.000245292796683365, 0.0, -0.9165659008464329, 0.011254102608395232, 0.005570910347210215, -0.01572378649162202, -0.0021108999827258597, 0.0025496631542580753, 0.0038607704266712655, -0.08343409915356712], "std": [0.05480027962599452, 0.09000803859738142, 0.0024293780457634033, 0.0, 0.3998836698410835, 0.17647832313564207, 0.2797276088494097, 0.1653692811399315, 0.01611429944743468, 0.027535624493823387, 0.07737962655185318, 0.9965132970003149], "count": [1654]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014510277658700943], "std": [0.11958146840333939], "count": [1654]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006045949214026602], "std": [0.024581077811676084], "count": [1654]}, "timestamp": {"min": [0.0], "max": [82.65], "mean": [41.325], "std": [23.87342926770262], "count": [1654]}, "frame_index": {"min": [0], "max": [1653], "mean": [826.5], "std": [477.4685853540524], "count": [1654]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1654]}, "index": {"min": [16161], "max": [17814], "mean": [16987.5], "std": [477.4685853540524], "count": [1654]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1654]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.20825535356725378]], [[0.21254451053361437]], [[0.21694198225320904]]], "std": [[[0.16401495072284472]], [[0.16137904167989686]], [[0.1535433920092893]]], "count": [214]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3230537315286165]], [[0.3089657143705905]], [[0.30371328405960807]]], "std": [[[0.2289564985000644]], [[0.22044510876803577]], [[0.21385874159198276]]], "count": [214]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33204776847102563]], [[0.3162110596933447]], [[0.30888507011851174]]], "std": [[[0.22616240275910748]], [[0.21691118461410624]], [[0.20967387863348305]]], "count": [214]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1283]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1283]}, "observation.state": {"min": [3.6976090804335557, -3.6668793293961217, 0.699996050521768, 0.0, 0.0, 0.7028216123580933, 0.7066619396209717, 0.2493433566539469, -0.35892917131019786, 0.22728117385183788, -0.9994897842407227, -0.6565151810646057, -0.2045736312866211, 6.148806619421521e-07, 0.00827858603904137, -0.04049639774961883], "max": [4.263053158431177, -3.615627641877436, 0.7027558225217718, 0.0, 0.0, 0.7075513601303101, 0.7113661170005798, 0.6131178070850067, 0.7962446826240477, 0.5668595644990146, 0.9994725584983826, 0.7469580769538879, 0.1812717467546463, 0.2267782837152481, 0.04054883293728472, -0.0011065440914091455], "mean": [3.897536964509456, -3.6385541060986633, 0.7010711680827983, 0.0, 0.0, 0.7061034237511532, 0.7081077749712432, 0.4104479956373362, 0.1465737162867144, 0.3391086521728499, -0.5503917352723964, -0.016807348918190062, -0.023438425159237386, 0.049709442475642435, 0.029459824576485265, -0.02921122978149992], "std": [0.23786249120555641, 0.014572480342685884, 0.0007503617616135309, 0.0, 0.0, 0.0008175876927238323, 0.0008149162312088416, 0.0921673952051278, 0.32756551935130523, 0.08923934134488826, 0.7792588866448279, 0.2750499702436972, 0.08836946743157316, 0.05531727362267972, 0.011619058910139845, 0.011758609637573402], "count": [1283]}, "action": {"min": [-0.3357142857142857, -0.95, -0.05428571428571429, 0.0, -1.0, -0.8357142857142857, -1.0, -0.5071428571428571, -0.13714285714285715, -0.28285714285714286, -0.29714285714285715, -1.0], "max": [0.41428571428571426, 0.5214285714285715, 0.0, 0.0, 1.0, 0.5857142857142857, 1.0, 0.95, 0.3, 0.1657142857142857, 0.8171428571428573, 1.0], "mean": [0.003980625765504955, -0.010132501948558068, -0.000320676984745574, 0.0, -0.9002338269680437, 0.016924618639349756, 0.005277808707270883, -0.02719073599821845, 0.0024629773967264216, -0.00010911925175370513, 0.004534016256541579, -0.1410756040530008], "std": [0.05332880863628856, 0.10939387187305258, 0.0034399820143725638, 0.0, 0.4354067716313904, 0.21787686778857046, 0.3422629864353939, 0.22926594448832704, 0.04083922320711768, 0.043663725587233845, 0.12696448581267952, 0.9899988252220759], "count": [1283]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02182384952902794], "std": [0.14610809087753296], "count": [1283]}, "next.done": {"min": [false], "max": [true], "mean": [0.000779423226812159], "std": [0.027907270132452307], "count": [1283]}, "timestamp": {"min": [0.0], "max": [64.1], "mean": [32.050000000000004], "std": [18.51850425925377], "count": [1283]}, "frame_index": {"min": [0], "max": [1282], "mean": [641.0], "std": [370.37008518507537], "count": [1283]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1283]}, "index": {"min": [17815], "max": [19097], "mean": [18456.0], "std": [370.37008518507537], "count": [1283]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1283]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5549993230913528]], [[0.5277714653526913]], [[0.5165151151874281]]], "std": [[[0.3039060759851331]], [[0.317911659563883]], [[0.32774227687685303]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6094208965688626]], [[0.5691299895137948]], [[0.5470969647281884]]], "std": [[[0.23527834422624017]], [[0.25987617915420946]], [[0.2771443203534573]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5854048105298264]], [[0.5451594055826655]], [[0.5233575446276801]]], "std": [[[0.23302483248083242]], [[0.25351843065481555]], [[0.269231072174528]]], "count": [228]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1397]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1397]}, "observation.state": {"min": [3.2305086604919913, -3.6499394666426412, 0.6999954648385948, 0.0, 0.0, 0.6992621421813965, 0.7066777944564819, 0.2362819712248907, -0.7359867907779694, 0.2274542942433525, -0.9996890425682068, -0.4662850499153137, -0.30541151762008667, 6.657122412434546e-06, 0.010849333391487585, -0.040536310058168955], "max": [3.707636779577245, -3.6354191180180373, 0.7025916577129433, 0.0, 0.0, 0.7075355052947998, 0.7148653864860535, 0.6446540152657652, 0.49729576695076183, 0.6043451875756437, 0.9999410510063171, 0.29881882667541504, 0.19773995876312256, 0.13842804729938507, 0.04051364678856278, -0.009955561188646163], "mean": [3.385847271980162, -3.644780976320281, 0.7010144005542822, 0.0, 0.0, 0.7053022040327532, 0.7089028722401935, 0.41876318157970743, -0.10622785099971827, 0.3626757053387387, 0.10782246655366552, -0.07627715506646235, -0.016557548497276434, 0.031802408083703625, 0.03229988757845079, -0.02968257412140132], "std": [0.22149313851151883, 0.003882175625532728, 0.0008656450414221302, 0.0, 0.0, 0.0016654836325921578, 0.0016543840789738304, 0.09652274729321737, 0.34082180971636244, 0.08575700752253733, 0.969798599495172, 0.16076007055790642, 0.11898631320356123, 0.027562641274995907, 0.011268324242892258, 0.011550686338141308], "count": [1397]}, "action": {"min": [0.0, 0.0, -0.1, 0.0, -1.0, -0.8500000000000001, -1.0, -0.5, -0.14285714285714285, -0.3171428571428571, -0.3, -1.0], "max": [0.45714285714285713, 0.8142857142857143, 0.005714285714285714, 0.0, 1.0, 0.5857142857142857, 0.8, 0.6714285714285714, 0.15428571428571428, 0.18571428571428572, 0.2285714285714286, 1.0], "mean": [0.007546783924736681, 0.016402495142652622, -0.0004335821658656304, 0.0, -0.9126700071581961, 0.024424787810614582, -0.02935883014623172, -0.02125472952244605, 0.002028837304427855, 0.0009673790776152964, -0.001439820022497188, -0.09377236936292055], "std": [0.046897886241874215, 0.09033528950378567, 0.005656641556317175, 0.0, 0.4086972694230612, 0.19213592124718523, 0.37635001971802023, 0.20404234909835645, 0.02579942815196391, 0.0644962341542902, 0.05449039879346222, 0.9955936634712378], "count": [1397]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018611310049891472], "std": [0.1351477950811386], "count": [1397]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007158196134574087], "std": [0.0267452279058975], "count": [1397]}, "timestamp": {"min": [0.0], "max": [69.8], "mean": [34.9], "std": [20.16395298546394], "count": [1397]}, "frame_index": {"min": [0], "max": [1396], "mean": [698.0], "std": [403.2790597092787], "count": [1397]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1397]}, "index": {"min": [19098], "max": [20494], "mean": [19796.0], "std": [403.2790597092787], "count": [1397]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1397]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5153486597771738]], [[0.49138376969917147]], [[0.47261026466594025]]], "std": [[[0.2083821395823821]], [[0.20096290992074792]], [[0.2003698264634091]]], "count": [256]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.054901960784313725]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5754163340026257]], [[0.5569343973608578]], [[0.5125172395332187]]], "std": [[[0.17698962706113017]], [[0.16956951870513942]], [[0.16934260143589136]]], "count": [256]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5756799167277766]], [[0.5572912213849086]], [[0.5126543236713783]]], "std": [[[0.17707152715789856]], [[0.16964210026669393]], [[0.1689832454994976]]], "count": [256]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1631]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1631]}, "observation.state": {"min": [0.7488602483168066, -2.3922713231694988, 0.6999955885495818, 0.0, 0.0, -1.0, 1.4730654584127478e-05, -0.03015972834618319, -0.4565380901589058, 0.22915608348987937, -0.9988641142845154, -0.5620760917663574, -0.388162761926651, 2.5090605049626902e-05, 0.009904554738482452, -0.04041911379451782], "max": [0.8315336546577288, -1.7354717331659868, 0.7017566752509824, 0.0, 0.0, 1.0, 0.004959015641361475, 0.5013037985695732, 0.681350547394739, 0.5779679699397542, 0.9965189695358276, 0.268232136964798, 0.24193143844604492, 0.20452702045440674, 0.04000744216819072, -0.0006887517885187604], "mean": [0.7711144579769266, -2.087818173482921, 0.701124971806444, 0.0, 0.0, 0.617410188873146, 0.0016921457085941225, 0.29717755676272406, 0.11652980721584867, 0.35741411044279964, -0.1864766021727931, -0.039052716522020185, -0.04270203309190661, 0.04075405839221036, 0.03007349897750399, -0.029686491214394227], "std": [0.0193826880410756, 0.325191861826004, 0.0006072933339993418, 0.0, 0.0, 0.7866382193567131, 0.0014647163275163311, 0.12270299779462936, 0.2980631729223887, 0.09782863691947669, 0.9476885585447011, 0.17495708364571197, 0.17046294381821947, 0.04935387663493089, 0.011837231536685401, 0.012099285350033883], "count": [1631]}, "action": {"min": [-0.3785714285714286, -0.95, -0.06285714285714286, 0.0, -1.0, -0.7142857142857143, -0.7857142857142857, -0.5571428571428572, -0.3342857142857143, -0.29428571428571426, -0.37714285714285717, -1.0], "max": [0.45, 0.1, 0.0, 0.0, 1.0, 0.7142857142857143, 1.0, 0.9357142857142857, 0.16, 0.18285714285714286, 0.34285714285714286, 1.0], "mean": [0.003617412630288167, -0.013755802750284657, -0.0004922484015065253, 0.0, -0.9129368485591661, 0.011211351493387065, 0.005767714811246396, -0.011154418849084703, -0.002033809231847246, -0.0012069720592099479, 0.00030480861872646134, -0.11833231146535868], "std": [0.06113376013663577, 0.09512281367860073, 0.0044702538863011535, 0.0, 0.4081008582971476, 0.20677774750465291, 0.2591559370734919, 0.19652949602363592, 0.03117927367722224, 0.04721924630250102, 0.06666068089761094, 0.9929740500452436], "count": [1631]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009809932671487331], "std": [0.09855809807777405], "count": [1631]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006131207847946045], "std": [0.02475368392174905], "count": [1631]}, "timestamp": {"min": [0.0], "max": [81.5], "mean": [40.75], "std": [23.541452801388445], "count": [1631]}, "frame_index": {"min": [0], "max": [1630], "mean": [815.0], "std": [470.82905602776896], "count": [1631]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1631]}, "index": {"min": [20495], "max": [22125], "mean": [21310.0], "std": [470.82905602776896], "count": [1631]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1631]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31769350326443224]], [[0.3103193234736015]], [[0.30358826114138254]]], "std": [[[0.16362055367400086]], [[0.14743776928265614]], [[0.1445579439781751]]], "count": [164]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.501704512914934]], [[0.4127119242204313]], [[0.35430538226747443]]], "std": [[[0.2146263684946205]], [[0.2278373865308186]], [[0.25492652794491344]]], "count": [164]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49763044542470425]], [[0.4079109264868176]], [[0.34854787738057547]]], "std": [[[0.21607641730217933]], [[0.22702510794837225]], [[0.2528519722024872]]], "count": [164]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [900]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [900]}, "observation.state": {"min": [0.7477345535989499, -2.3654010895836035, 0.6999942337076953, 0.0, 0.0, -1.0, 4.5349361244007014e-07, -0.010116269791552335, -0.14977243514002847, 0.2289698934581289, -0.9990743398666382, -0.47889000177383423, -0.3129466772079468, 1.0439770221637446e-06, 0.010922844895200283, -0.04004541956353784], "max": [0.8281307755751088, -1.7390776692741339, 0.7013342716344024, 0.0, 0.0, 1.0, 0.0023088271263986826, 0.49011452763218033, 0.6223468683606268, 0.6117766180515061, 0.9952128529548645, 0.2844025790691376, 0.20965149998664856, 0.18005935847759247, 0.040315802824181915, -0.009166524457543122], "mean": [0.7706186977722768, -2.0866265996480684, 0.7005211272132873, 0.0, 0.0, 0.9155552421675788, 0.0006790043282721728, 0.2596854863708393, 0.15178634478239572, 0.3708939975327016, -0.8085915448268255, 0.03844073952486118, -0.08974400742960041, 0.055869399257281634, 0.02940814280319916, -0.029381714998409973], "std": [0.018645843748262475, 0.30610728101946727, 0.00034302498401615446, 0.0, 0.0, 0.4021914398390336, 0.0004990877803164849, 0.1117929099805672, 0.21642115425874653, 0.10446963942884813, 0.5500185907915591, 0.13758446841418215, 0.09893221757667042, 0.04784478363334969, 0.011911810055874508, 0.011785738456440091], "count": [900]}, "action": {"min": [-0.45714285714285713, -0.8357142857142857, -0.06285714285714286, 0.0, -1.0, -0.8428571428571429, -1.0, -0.6571428571428571, -0.27714285714285714, -0.2885714285714286, -0.4028571428571428, -1.0], "max": [0.55, 0.2571428571428572, 0.02, 0.0, 1.0, 0.8142857142857143, 1.0, 1.0, 0.24, 0.38285714285714284, 0.2742857142857143, 1.0], "mean": [0.00746031746031746, -0.017984126984126998, -0.0002476190476190476, 0.0, -0.8733333333333333, 0.027134920634920644, 0.015412698412698432, -0.018523809523809484, -0.00020000000000000077, 0.009476190476190471, 0.00918095238095238, -0.17555555555555555], "std": [0.07282532071237782, 0.12780652442092155, 0.0035929384004191552, 0.0, 0.4871230736568428, 0.2917740908963947, 0.40697724253147677, 0.3236662112833689, 0.04286397723284285, 0.06557367634560696, 0.07270223432112273, 0.9844695256398629], "count": [900]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017777778208255768], "std": [0.1321428269147873], "count": [900]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011111111111111111], "std": [0.033314809667922114], "count": [900]}, "timestamp": {"min": [0.0], "max": [44.95], "mean": [22.475], "std": [12.990373038010366], "count": [900]}, "frame_index": {"min": [0], "max": [899], "mean": [449.5], "std": [259.80746076020733], "count": [900]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [900]}, "index": {"min": [22126], "max": [23025], "mean": [22575.5], "std": [259.80746076020733], "count": [900]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [900]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5861380433724597]], [[0.5602253885338058]], [[0.529048954321012]]], "std": [[[0.2875809700868758]], [[0.28114227118246193]], [[0.26509392580243507]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.559527206289674]], [[0.49472361519691826]], [[0.4491892124067109]]], "std": [[[0.2098295981887399]], [[0.24922868265824333]], [[0.2745153265794948]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.043137254901960784]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5603017095113728]], [[0.49058618981853813]], [[0.4406275050763949]]], "std": [[[0.2109565482996967]], [[0.2513086493808976]], [[0.277941371696403]]], "count": [228]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1396]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1396]}, "observation.state": {"min": [2.335820846922407, -0.8802693163875586, 0.6999916813070416, 0.0, 0.0, 0.6734049320220947, 0.7070884108543396, -0.07479445409512386, -0.37373434179749054, 0.2275127909987601, -0.9992504715919495, -0.4139708876609802, -0.3123493194580078, 0.00010009133256971836, 0.0037959096643719052, -0.04114707664060697], "max": [3.370294246244005, -0.757350055701106, 0.7104632755794026, 0.0, 0.0, 0.7071251273155212, 0.7392739057540894, 0.4782383607985979, 0.29435280335262304, 0.6436022258477995, 0.9987528324127197, 0.4121285676956177, 0.32516732811927795, 0.161727637052536, 0.041299000324680625, -0.006211885945524573], "mean": [2.909112036057205, -0.7720331466152474, 0.7030039064085035, 0.0, 0.0, 0.694349841393509, 0.7195262005899561, 0.2131750565601539, 0.0002859733248185102, 0.4134575816378355, -0.4920486348833259, -7.910890381964708e-05, -0.08455067205571408, 0.04705198354665552, 0.03302864819761371, -0.03242393753402839], "std": [0.4962176194250147, 0.01983893685820412, 0.002602305165816554, 0.0, 0.0, 0.00912961932190266, 0.008774470092251492, 0.13981576206249677, 0.17952536853923565, 0.12888119599504405, 0.8317706953073629, 0.15877504090378375, 0.1735718939302654, 0.03669083655138301, 0.011133597780843761, 0.011343751718721989], "count": [1396]}, "action": {"min": [-0.5732142857142857, -1.0, -0.09428571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.1285714285714286, -0.22285714285714286, -0.2528571428571429, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.567857142857143, 0.8357142857142857, 1.0, 0.12000000000000001, 0.3064285714285715, 0.38785714285714284, 1.0], "mean": [0.010400890298812934, -0.001912351616864507, -0.0034982603356528866, 0.0, -0.8223495702005731, 0.011642959476054036, -0.018875358166189127, -0.034651299631600505, 0.0011466434711420385, 0.0008657388456815422, 0.0018742325010233352, -0.167621776504298], "std": [0.11921969802031387, 0.19631855556978892, 0.01493808675093061, 0.0, 0.568982587071808, 0.2798099836002857, 0.2896466641727903, 0.3202625525719252, 0.028456966799150094, 0.06102938039989561, 0.06454137308857487, 0.985851378272372], "count": [1396]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011461318470537663], "std": [0.10644227266311646], "count": [1396]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007163323782234957], "std": [0.026754798563013032], "count": [1396]}, "timestamp": {"min": [0.0], "max": [69.75], "mean": [34.875], "std": [20.149519225033632], "count": [1396]}, "frame_index": {"min": [0], "max": [1395], "mean": [697.5], "std": [402.9903845006727], "count": [1396]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1396]}, "index": {"min": [23026], "max": [24421], "mean": [23723.5], "std": [402.9903845006727], "count": [1396]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1396]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4861976901127681]], [[0.4294447708569871]], [[0.38783200321875494]]], "std": [[[0.24390505703910648]], [[0.2307770226665841]], [[0.20905490572799193]]], "count": [187]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44273326770182087]], [[0.44716340983277714]], [[0.4274714144018445]]], "std": [[[0.21618224567489602]], [[0.21129539899156288]], [[0.21947589074845586]]], "count": [187]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43610715527097993]], [[0.43534912256571034]], [[0.4136653689352161]]], "std": [[[0.22086206748954948]], [[0.2173149281377264]], [[0.22473563018449375]]], "count": [187]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1071]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1071]}, "observation.state": {"min": [0.7576069023730345, -1.496895969076703, 0.6999939755536487, 0.0, 0.0, -1.0, 0.0, 0.0701862802531582, -0.6570631623451552, 0.23067660910115162, -0.9997829794883728, -0.46808162331581116, -0.2423393875360489, 0.00015237262414302677, 0.01081034946402058, -0.04057030987877498], "max": [0.9686927587620747, -0.520608156494947, 0.7022400663436885, 0.0, 0.0, 1.0, 0.04134565219283104, 0.5084016990096323, 0.5911674815295764, 0.5863183287813942, 0.9997286796569824, 0.5469105839729309, 0.19685429334640503, 0.2080312967300415, 0.04084742288372042, -0.010290789902199043], "mean": [0.8083358166026514, -1.27126390265435, 0.7006826348364654, 0.0, 0.0, 0.531226814572328, 0.0038958455867864204, 0.3165290712736156, 0.039504625053371115, 0.35926481694617424, -0.8567481184540009, -0.06606497956104194, -0.052196134738118245, 0.08184003127544211, 0.03557026016612492, -0.03480812432372177], "std": [0.041769711384662005, 0.37708757207887217, 0.0006618491155175499, 0.0, 0.0, 0.8471678454245005, 0.009464599836017759, 0.10401492685060112, 0.3120542195462562, 0.09265610951640732, 0.4370337403793261, 0.22204160894093333, 0.09050204428643052, 0.060862683858873175, 0.007642446656226512, 0.00824512553114859], "count": [1071]}, "action": {"min": [-0.8500000000000001, -0.9714285714285714, -0.2142857142857143, 0.0, -1.0, -1.0, -1.0, -0.7571428571428572, -0.21714285714285717, -0.41714285714285715, -0.3628571428571429, -1.0], "max": [0.6428571428571428, 1.0, 0.08, 0.0, 1.0, 0.8285714285714285, 1.0, 0.9642857142857144, 0.20857142857142857, 0.4285714285714286, 0.4742857142857143, 1.0], "mean": [0.006082432973189275, -0.006709350406829383, -0.001461918100573562, 0.0, -0.8188608776844071, 0.01994130985727627, -0.0006802721088435399, -0.0116446578631453, -0.0013738828864879285, 0.004156329198346001, 0.004407096171802057, -0.16713352007469653], "std": [0.11051481015885552, 0.19828518639478465, 0.019138957496064608, 0.0, 0.5739920408837749, 0.2872708837784053, 0.3953570578013896, 0.3019125740636005, 0.043489388067008194, 0.0706718649801099, 0.10958499315774516, 0.9859342708656825], "count": [1071]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023342670872807503], "std": [0.15098936855793], "count": [1071]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009337068160597573], "std": [0.03054234777552965], "count": [1071]}, "timestamp": {"min": [0.0], "max": [53.5], "mean": [26.75], "std": [15.458546719102241], "count": [1071]}, "frame_index": {"min": [0], "max": [1070], "mean": [535.0], "std": [309.17093438204483], "count": [1071]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1071]}, "index": {"min": [24422], "max": [25492], "mean": [24957.0], "std": [309.17093438204483], "count": [1071]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1071]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5340574573992759]], [[0.5342421709425207]], [[0.531449658345159]]], "std": [[[0.2615216888933783]], [[0.26457494062404247]], [[0.26671690061498343]]], "count": [182]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4726857509830856]], [[0.4730089953273978]], [[0.47529706143274614]]], "std": [[[0.2793305843249332]], [[0.270414341085885]], [[0.2557761199635531]]], "count": [182]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48866533453262617]], [[0.48895209620055957]], [[0.4906593551257642]]], "std": [[[0.26716362341562594]], [[0.25840708158863557]], [[0.24409636872912496]]], "count": [182]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1036]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1036]}, "observation.state": {"min": [3.0522018572944902, -2.403011235790252, 0.6999972525869977, 0.0, 0.0, -0.7075846195220947, 0.7066286206245422, 0.21371064194938771, -0.8175238771899833, 0.227936358976761, -0.9934606552124023, -0.500569760799408, -0.20934851467609406, 8.932050150178839e-06, -0.0008290691116995207, -0.04021327627483425], "max": [3.6556903086963226, -2.354795253110698, 0.7055258194330878, 0.0, 0.0, -0.7069585919380188, 0.7072550058364868, 0.6571885886507185, 0.3395012278014775, 0.6108516419243445, 0.990880012512207, 0.45485973358154297, 0.3291296362876892, 0.2600187361240387, 0.04014518086127173, -0.009406951427877888], "mean": [3.3420924192840977, -2.378991320928149, 0.7024763037283087, 0.0, 0.0, -0.7071608123171744, 0.7070527355183045, 0.37998242767587137, -0.22632341307176437, 0.34093530596426197, 0.17292472674119427, -0.09269783983877267, 0.015857962573013414, 0.0680654654117793, 0.02980414515244974, -0.030171622613863497], "std": [0.2977156917210151, 0.023993082614322033, 0.0016931513677832747, 0.0, 0.0, 7.902681066212414e-05, 7.903782185936101e-05, 0.10722270262713346, 0.2871348110502642, 0.08326550505462811, 0.9458052029458429, 0.2015718066673637, 0.13329893453674913, 0.06060102201578485, 0.012622672663414275, 0.012107498726223275], "count": [1036]}, "action": {"min": [-0.44285714285714284, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7285714285714285, -0.6642857142857144, -0.25142857142857145, -0.23714285714285716, -0.38, -1.0], "max": [0.0, 0.6214285714285714, 0.0, 0.0, 1.0, 0.6428571428571428, 1.0, 0.9857142857142858, 0.15142857142857147, 0.2257142857142857, 0.32857142857142857, 1.0], "mean": [-0.004136789851075564, 0.02293160507446222, 0.0, 0.0, -0.8976833976833977, 0.029136789851075495, -0.014988968560397156, -0.03961665747380036, -0.0072200772200772196, -0.001635410921125206, -0.00900717043574188, -0.138996138996139], "std": [0.03540719438164894, 0.10850760876969845, 0.0, 0.0, 0.4406410302316255, 0.2650314746835005, 0.4107543900855077, 0.2453785249803248, 0.04396277850956818, 0.04426672283419333, 0.08878388054398144, 0.9902929230001427], "count": [1036]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022200772538781166], "std": [0.1473359912633896], "count": [1036]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009652509652509653], "std": [0.031053490235801954], "count": [1036]}, "timestamp": {"min": [0.0], "max": [51.75], "mean": [25.874999999999996], "std": [14.953365005910877], "count": [1036]}, "frame_index": {"min": [0], "max": [1035], "mean": [517.5], "std": [299.06730011821753], "count": [1036]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1036]}, "index": {"min": [25493], "max": [26528], "mean": [26010.5], "std": [299.06730011821753], "count": [1036]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1036]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49789376463617313]], [[0.3908436141124596]], [[0.33885381658736746]]], "std": [[[0.216180157889947]], [[0.1871360690206954]], [[0.18963719868221235]]], "count": [242]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5654660328920841]], [[0.4912200111756351]], [[0.4444907178988508]]], "std": [[[0.15174261425768867]], [[0.1773048043788975]], [[0.19377618555035764]]], "count": [242]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5455829185791213]], [[0.4786545736943086]], [[0.4344326903881468]]], "std": [[[0.18100590507502118]], [[0.19329598654662808]], [[0.20358626021341988]]], "count": [242]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1509]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1509]}, "observation.state": {"min": [3.252742388313273, -1.7249246262681062, 0.6999951331547509, 0.0, 0.0, -0.7082769870758057, 0.7059347033500671, 0.18347380821564974, -0.7764362056417031, 0.22785368015080854, -0.9760007262229919, -0.9989789128303528, -0.20717385411262512, 0.00022453196288552135, 0.009654543612190404, -0.04054646147483398], "max": [3.6630507394319514, -1.7198667115948587, 0.7030682930254787, 0.0, 0.0, -0.7068516612052917, 0.7073617577552795, 0.4759974790470589, 0.47120219418235854, 0.6087074535073856, 0.9990962743759155, 0.9989420771598816, 0.2075703740119934, 0.1880074292421341, 0.040164296379586156, -0.0058739857739178464], "mean": [3.3336510205692456, -1.7244807402579316, 0.7014247810990842, 0.0, 0.0, -0.707543891853967, 0.7066690994462405, 0.33209368870449096, -0.09889486265623758, 0.37005920822842436, 0.09925740549478629, 0.06901710802125094, 0.00951765478549093, 0.07590181164782285, 0.02638390916702356, -0.026474610889364404], "std": [0.16089597374072162, 0.0007035474278913697, 0.0011651649847504418, 0.0, 0.0, 0.00046229079282964993, 0.0004628549649496444, 0.08478399247449088, 0.38035861536589455, 0.08747538658498921, 0.501506190287669, 0.8505981206529318, 0.05417626832191629, 0.03965158209050144, 0.013678571341820758, 0.013712085125592853], "count": [1509]}, "action": {"min": [-0.29285714285714287, 0.0, 0.0, 0.0, -1.0, -0.6500000000000001, -0.8928571428571429, -0.7857142857142857, -0.30285714285714294, -0.40571428571428575, -0.19428571428571428, -1.0], "max": [0.28571428571428575, 0.8142857142857143, 0.025714285714285714, 0.0, 1.0, 0.8785714285714286, 1.0, 0.6642857142857144, 0.16857142857142857, 0.20857142857142857, 0.37714285714285717, 1.0], "mean": [0.00029821073558648125, 0.01198523146833286, 3.597462841995645e-05, 0.0, -0.9456593770709079, 0.011715421755183178, -0.01924169270093723, -0.031681340528259, -0.005377260248035593, 0.0019199091167281985, 0.017144750544352935, -0.04042412193505633], "std": [0.02670610928521778, 0.07658591241828343, 0.0008149240510104414, 0.0, 0.32515894968132597, 0.1630806938112728, 0.3679976184980191, 0.21449317407797722, 0.039091189383622195, 0.05552215647141439, 0.08359263155244481, 0.9991826111205994], "count": [1509]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010603048838675022], "std": [0.10242374986410141], "count": [1509]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006626905235255136], "std": [0.025734244982037902], "count": [1509]}, "timestamp": {"min": [0.0], "max": [75.4], "mean": [37.7], "std": [21.780534122621205], "count": [1509]}, "frame_index": {"min": [0], "max": [1508], "mean": [754.0], "std": [435.6106824524241], "count": [1509]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1509]}, "index": {"min": [26529], "max": [28037], "mean": [27283.0], "std": [435.6106824524241], "count": [1509]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1509]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23600616555285953]], [[0.23093718494659002]], [[0.2287533981333263]]], "std": [[[0.17295084749764317]], [[0.16850282342117667]], [[0.16737014345263523]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3667349491393167]], [[0.3476618310033811]], [[0.32935447703607645]]], "std": [[[0.20646302371849423]], [[0.20202800901422743]], [[0.1988227351007605]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3749152759996137]], [[0.3558893846675931]], [[0.33748202672404193]]], "std": [[[0.21109212823849427]], [[0.20740388634154824]], [[0.20508870682801011]]], "count": [209]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1241]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1241]}, "observation.state": {"min": [0.12329019933177318, -4.81466714519978, 0.6999971868235958, 0.0, 0.0, -1.0, 7.036043569996764e-08, -0.012944661479191627, -0.36802074259201856, 0.22625197089495974, -0.9911879301071167, -0.49849462509155273, -0.3845389485359192, 1.7809610653785057e-05, -0.0007523954785254547, -0.04140581921163361], "max": [0.1405331967288261, -3.6390052525398815, 0.7042457108478886, 0.0, 0.0, 1.0, 0.005796810146421194, 0.41696537907455505, 0.31632204732567804, 0.6262774997934113, 0.9870545864105225, 0.48456674814224243, 0.329629123210907, 0.10494065284729004, 0.0400594737925877, -0.01064900571834199], "mean": [0.12648658580548275, -4.258589603866386, 0.7014972277885986, 0.0, 0.0, -0.07816710979298754, 0.0026478349335622136, 0.21050334778519725, -0.024488378712350867, 0.3966275231471205, -0.5935602659760321, -0.10411943077416692, -0.06248799116353038, 0.03681037049882713, 0.03191300179397885, -0.0320717151226679], "std": [0.0030494337844435594, 0.5636354221902716, 0.0012535446402081147, 0.0, 0.0, 0.9969350234707427, 0.0018714464586828945, 0.12298125830874455, 0.1723745713231299, 0.1295824362497009, 0.7387966755774753, 0.22315515129288563, 0.18803315883871466, 0.024705970701232576, 0.011101664749599907, 0.011066279583618718], "count": [1241]}, "action": {"min": [-0.34821428571428575, -0.9750000000000002, -0.04071428571428572, 0.0, -1.0, -0.8678571428571429, -0.8035714285714287, -0.46607142857142864, -0.12428571428571428, -0.3107142857142858, -0.2742857142857143, -1.0], "max": [0.5732142857142857, 0.8946428571428571, 0.010714285714285714, 0.0, 1.0, 0.75, 0.9, 1.0, 0.22285714285714286, 0.22500000000000003, 0.26785714285714285, 1.0], "mean": [0.005991711753194427, -0.015376424542419706, -0.00041095890410958907, 0.0, -0.814665592264303, 0.018773742373661806, 0.020552262000690682, -0.007696845861632301, 0.0031529872222861724, 0.004178657764475657, 0.004176931046391156, -0.13295729250604352], "std": [0.06711974083658885, 0.19122642079216387, 0.0037469368655475093, 0.0, 0.5799310069143208, 0.2700494872489011, 0.2782712410013105, 0.27933241218098076, 0.035677436442782366, 0.06840710990333529, 0.07001133497461946, 0.9911217676801702], "count": [1241]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02336825057864189], "std": [0.15107010304927826], "count": [1241]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008058017727639], "std": [0.028375208479708317], "count": [1241]}, "timestamp": {"min": [0.0], "max": [62.0], "mean": [31.0], "std": [17.912286286233815], "count": [1241]}, "frame_index": {"min": [0], "max": [1240], "mean": [620.0], "std": [358.2457257246763], "count": [1241]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1241]}, "index": {"min": [28038], "max": [29278], "mean": [28658.0], "std": [358.2457257246763], "count": [1241]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1241]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5117968732903317]], [[0.5041081274175544]], [[0.4947996785473431]]], "std": [[[0.30259161248273625]], [[0.3016370417853135]], [[0.30010962331659224]]], "count": [287]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.625718728683356]], [[0.612934929176034]], [[0.599681962718157]]], "std": [[[0.2419018720884274]], [[0.23806317720097506]], [[0.23450802292831277]]], "count": [287]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.604386448063648]], [[0.5912405760584531]], [[0.5779144781245196]]], "std": [[[0.26157094108645024]], [[0.25678674592444845]], [[0.2521679590045445]]], "count": [287]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1898]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1898]}, "observation.state": {"min": [4.906344224019792, -4.633249964895506, 0.6999983868507342, 0.0, 0.0, 4.021905624540523e-05, 1.0, 0.17117019424446323, -0.7033615001861975, 0.2276227471429635, -0.9926129579544067, -0.5560290217399597, -0.37677207589149475, 5.920519106439315e-05, 0.005643095290104815, -0.040691483541511336], "max": [4.906451392689101, -4.633107010872496, 0.7052092769871389, 0.0, 0.0, 0.00021652078430633992, 1.0, 0.6046829389752428, 0.6143686614633745, 0.6061980579241983, 0.9901835918426514, 0.4955483675003052, 0.287638783454895, 0.22576221823692322, 0.04059607110526765, -0.003672222016001552], "mean": [4.906443104575662, -4.633159635415451, 0.7018583903693246, 0.0, 0.0, 0.00014998763919847163, 1.0, 0.34246098064563085, -0.053963696514795996, 0.35216337302439427, -0.4203973375143065, -0.08978523293586627, -0.0928257196450761, 0.0476023381004557, 0.029928042662772353, -0.02855895881962348], "std": [8.812482347250355e-06, 9.26458871263427e-06, 0.0016520111427415494, 0.0, 0.0, 1.2983327956409545e-05, 0.0, 0.09022514624699972, 0.3468853409495506, 0.09398242621888818, 0.8405046797243234, 0.24354322370922787, 0.19079467850938753, 0.046454988119816853, 0.012825483953657678, 0.014326740431557898], "count": [1898]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4357142857142858, -0.7607142857142857, -0.44285714285714284, -0.2057142857142857, -0.1742857142857143, -0.46857142857142864, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4035714285714285, 0.7178571428571429, 0.6500000000000001, 0.2014285714285714, 0.19857142857142857, 0.2914285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.009594686135782012, -0.010127201565557747, -0.017979452054794506, 0.0012562095438807778, -0.0008550353755833209, 0.0002641878669275942, -0.1095890410958904], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14747012826063716, 0.2425229522546876, 0.18717801493323852, 0.034934731180699626, 0.04494103283408473, 0.07224472822249349, 0.9939769826669567], "count": [1898]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012644889764487743], "std": [0.11173629015684128], "count": [1898]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005268703898840885], "std": [0.02294760984234201], "count": [1898]}, "timestamp": {"min": [0.0], "max": [94.85], "mean": [47.425000000000004], "std": [27.395266470687957], "count": [1898]}, "frame_index": {"min": [0], "max": [1897], "mean": [948.5], "std": [547.9053294137592], "count": [1898]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1898]}, "index": {"min": [29279], "max": [31176], "mean": [30227.5], "std": [547.9053294137592], "count": [1898]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1898]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5615968040883603]], [[0.5170581486153775]], [[0.48176350628013337]]], "std": [[[0.2619946610332226]], [[0.2387809439768297]], [[0.21107844359894973]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6623090157051205]], [[0.5907768792781298]], [[0.542376408532677]]], "std": [[[0.21343148527356998]], [[0.2677060273234817]], [[0.2974688778279425]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6659866836910032]], [[0.5876461291239358]], [[0.5363057381991139]]], "std": [[[0.2139110250211002]], [[0.27455364989495057]], [[0.30541031438660965]]], "count": [190]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1098]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1098]}, "observation.state": {"min": [2.8266564064103696, -0.8397257053234071, 0.6999950249695541, 0.0, 0.0, 0.6254321932792664, 0.7066435813903809, 0.15466340495252862, -0.6115181625587573, 0.2251535857944671, -0.9993906021118164, -0.31951969861984253, -0.1443171501159668, 1.6420530357663665e-07, 0.011229984137551552, -0.04107568348418117], "max": [3.344976712570908, -0.7515341880094308, 0.7042332404632419, 0.0, 0.0, 0.7075695991516113, 0.7802785038948059, 0.5561999642332941, 0.6171853256849871, 0.5973395975566372, 0.9993540644645691, 0.3182946741580963, 0.13998746871948242, 0.11310136318206787, 0.040055267711984796, -0.010843251813584443], "mean": [2.9958284981649257, -0.7954808199644081, 0.7007610598084458, 0.0, 0.0, 0.7031311274986233, 0.7109076026793169, 0.28763292493186204, 0.02938291621087059, 0.36458727282454323, 0.17220693853817784, -0.04136332400306001, -0.002152410985526147, 0.02725947637537813, 0.03206886419889006, -0.0335301804064105], "std": [0.2402157792211456, 0.02762083254521332, 0.0013632317284978266, 0.0, 0.0, 0.010860355755453235, 0.009952270766101322, 0.10046295687436331, 0.3613938842413252, 0.09439590431579281, 0.9689029358451288, 0.1533114266201615, 0.06885087391540033, 0.02946863079338712, 0.010050432397943199, 0.010095589248768893], "count": [1098]}, "action": {"min": [-0.4785714285714286, -0.9285714285714287, -0.47714285714285715, 0.0, -1.0, -0.8500000000000001, -0.8571428571428572, -0.42142857142857143, -0.09428571428571429, -0.2057142857142857, -0.40571428571428575, -1.0], "max": [0.55, 0.0, 0.2914285714285714, 0.0, 1.0, 0.7000000000000001, 1.0, 1.0, 0.19714285714285715, 0.13714285714285715, 0.3142857142857143, 1.0], "mean": [0.008372365339578455, -0.019893312516263324, 0.00032786885245901623, 0.0, -0.8779599271402551, 0.009543325526932113, 0.014981785063752315, -0.017557897475930232, 0.0006349206349206362, 0.002443403590944576, 0.0018761384335154816, -0.2550091074681239], "std": [0.06569510179892776, 0.10654558021536853, 0.04795273723797026, 0.0, 0.47873412906944296, 0.21408254222489306, 0.41014742544711524, 0.22490395589814793, 0.02920221944125142, 0.036147718631270656, 0.07622957410497791, 0.9669386511606153], "count": [1098]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02641165815293789], "std": [0.16035611927509308], "count": [1098]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009107468123861566], "std": [0.030164836360071393], "count": [1098]}, "timestamp": {"min": [0.0], "max": [54.85], "mean": [27.425], "std": [15.848258316504898], "count": [1098]}, "frame_index": {"min": [0], "max": [1097], "mean": [548.5], "std": [316.965166330098], "count": [1098]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1098]}, "index": {"min": [31177], "max": [32274], "mean": [31725.5], "std": [316.965166330098], "count": [1098]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1098]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49587688542894903]], [[0.4799222214428133]], [[0.4675410116103448]]], "std": [[[0.28780916689559594]], [[0.29408562932976645]], [[0.30125303756833116]]], "count": [251]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5908657310288564]], [[0.5568929427434258]], [[0.5261795967745134]]], "std": [[[0.23586224559425176]], [[0.23004529391591202]], [[0.22333525253104894]]], "count": [251]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6057018536607247]], [[0.573238504697509]], [[0.5448741418459891]]], "std": [[[0.22939382681941167]], [[0.22931946919224006]], [[0.22759335493360885]]], "count": [251]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1584]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1584]}, "observation.state": {"min": [4.281381608757577, -2.423629914238236, 0.6999979519095495, 0.0, 0.0, 8.567780605517328e-05, 0.9995561242103577, 0.11824120556339501, -0.4819477246862349, 0.21870709151307277, -0.9955567717552185, -0.7125369310379028, -0.5092432498931885, 0.0001906597608467564, 0.003342935057755831, -0.04084426577811056], "max": [4.447612924960331, -1.874413689294712, 0.7152808277017851, 0.0, 0.0, 0.029792791232466698, 1.0, 0.6814177870592779, 0.5057950445843014, 0.5778020443241506, 0.995241641998291, 0.9608821868896484, 0.31966808438301086, 0.3370773494243622, 0.04211951321991053, -0.0038246983823649002], "mean": [4.418702801739723, -2.2489798865967248, 0.708502989449722, 0.0, 0.0, 0.010710251204194847, 0.9999173486398326, 0.3420933403338744, -0.0008877180788121373, 0.3465789727193273, -0.12092186593347126, -0.10404992306774313, -0.013639142560666962, 0.08884194341409066, 0.032757673755248094, -0.03284735616355507], "std": [0.032069964271603, 0.2500349965035728, 0.005260464122993584, 0.0, 0.0, 0.007114366754040787, 9.254082213667019e-05, 0.1393673217059351, 0.23548622693243063, 0.09523250279898435, 0.8670311471332153, 0.4015048332389731, 0.21785559589731804, 0.0778613825854054, 0.010370149451627423, 0.008848877377282524], "count": [1584]}, "action": {"min": [-0.5821428571428572, -0.6678571428571428, 0.0, 0.0, -1.0, -1.0, -0.8107142857142857, -0.9, -0.15857142857142856, -0.32285714285714284, -0.41571428571428576, -1.0], "max": [0.6571428571428571, 0.0, 0.07285714285714286, 0.0, 1.0, 0.6, 0.9535714285714286, 0.6357142857142857, 0.30142857142857143, 0.27, 0.5, 1.0], "mean": [0.003068632756132756, -0.01507260101010101, 0.0007097763347763344, 0.0, -0.9103535353535354, -0.009940927128427146, 0.013250811688311643, -0.0629802489177488, 0.00034992784992784966, -0.007947330447330437, 0.0020003607503607562, -0.1452020202020202], "std": [0.06809794399019634, 0.0862630540592912, 0.004795603732933973, 0.0, 0.41383141575925037, 0.2584656932487668, 0.28849295350212295, 0.2521201993343847, 0.04788587257107696, 0.0742075193997393, 0.13948534478535113, 0.9894020281610629], "count": [1584]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010101010091602802], "std": [0.09999489784240723], "count": [1584]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006313131313131314], "std": [0.025118012959694142], "count": [1584]}, "timestamp": {"min": [0.0], "max": [79.15], "mean": [39.575], "std": [22.863066103798648], "count": [1584]}, "frame_index": {"min": [0], "max": [1583], "mean": [791.5], "std": [457.26132207597294], "count": [1584]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1584]}, "index": {"min": [32275], "max": [33858], "mean": [33066.5], "std": [457.26132207597294], "count": [1584]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1584]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4492318860021062]], [[0.4360731136449815]], [[0.42770544971334246]]], "std": [[[0.25925319449306305]], [[0.2641759870019531]], [[0.26671842657493006]]], "count": [223]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4567973020260602]], [[0.37424429589354313]], [[0.33660438193459835]]], "std": [[[0.22535296619203496]], [[0.2689853327051817]], [[0.29062142474498404]]], "count": [223]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45204819263594764]], [[0.3722484516508397]], [[0.3353070947956852]]], "std": [[[0.2224381906075409]], [[0.2629919138078243]], [[0.2844566840735995]]], "count": [223]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1356]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1356]}, "observation.state": {"min": [2.2648188210660525, -2.4392136547939463, 0.6999943849080426, 0.0, 0.0, -0.716525137424469, 0.6975612640380859, 0.0908886786876657, -0.700534519948024, 0.23037543530860372, -0.9998981356620789, -0.5343422889709473, -0.23854154348373413, 7.209699833765626e-05, 0.006076132882233136, -0.04007271020141596], "max": [3.613658348328372, -2.3325338305717067, 0.7014454371228217, 0.0, 0.0, -0.7065920829772949, 0.707621157169342, 0.529166370799246, 0.5044702687864175, 0.6025116205283466, 0.9985856413841248, 0.47711098194122314, 0.17876124382019043, 0.14790813624858856, 0.04070533283148406, -0.0045817361238753365], "mean": [3.218712739767034, -2.4090615604077987, 0.7005704655264499, 0.0, 0.0, -0.7081056640299372, 0.7061005085267148, 0.32443695950645474, -0.07461337486552011, 0.37233485126951577, -0.2795896028610809, -0.07847885502595729, -0.010024183250448876, 0.03476955661459204, 0.03074621896189976, -0.030466232527121176], "std": [0.4536104976814927, 0.03408325361235587, 0.0006289481507228167, 0.0, 0.0, 0.002043581863540911, 0.0020659649878847037, 0.11742524051698326, 0.2871443883215331, 0.10415343700472528, 0.9310906344612548, 0.19971169356773066, 0.08017694596439445, 0.03344313569791902, 0.012308152038393347, 0.012526468518172061], "count": [1356]}, "action": {"min": [-0.5571428571428572, -0.9928571428571428, -0.07714285714285714, 0.0, -1.0, -0.6285714285714287, -1.0, -0.7642857142857143, -0.17714285714285713, -0.28, -0.5257142857142857, -1.0], "max": [0.5142857142857143, 0.9857142857142858, 0.0, 0.0, 1.0, 1.0, 0.8785714285714286, 0.8714285714285716, 0.1742857142857143, 0.14857142857142858, 0.3171428571428571, 1.0], "mean": [0.01041403286978508, 0.0026337968815844997, -0.0004087652760219133, 0.0, -0.7551622418879056, 0.015750105351875262, -0.00014222503160558615, -0.010924989464812476, 0.001696165191740415, -0.0005499367888748419, -0.00153603034134008, -0.25663716814159293], "std": [0.10070984813245779, 0.2178832749639724, 0.004836900905039118, 0.0, 0.6555379382055928, 0.23168631611545412, 0.33780174630358617, 0.23796934778081522, 0.028011270968837865, 0.0449380179879433, 0.09832303734556891, 0.9665078188655687], "count": [1356]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015486725606024265], "std": [0.12347829341888428], "count": [1356]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007374631268436578], "std": [0.027146257108120887], "count": [1356]}, "timestamp": {"min": [0.0], "max": [67.75], "mean": [33.875], "std": [19.572168803345903], "count": [1356]}, "frame_index": {"min": [0], "max": [1355], "mean": [677.5], "std": [391.44337606691806], "count": [1356]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1356]}, "index": {"min": [33859], "max": [35214], "mean": [34536.5], "std": [391.44337606691806], "count": [1356]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1356]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4135434667030875]], [[0.40722371742886604]], [[0.39803972217549133]]], "std": [[[0.17218787066085484]], [[0.16551561882322016]], [[0.16761867209168965]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42108993469213857]], [[0.40044382071676327]], [[0.3944266463909783]]], "std": [[[0.19036443960935387]], [[0.20532680988717486]], [[0.21270891548936005]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43570252808154514]], [[0.41649307947055775]], [[0.4111063947673796]]], "std": [[[0.20221663573253826]], [[0.21641829604245696]], [[0.22323974452889275]]], "count": [196]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1145]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1145]}, "observation.state": {"min": [2.3835449899762486, -0.94990683754509, 0.6999960489467563, 0.0, 0.0, 0.6959350109100342, 0.7066286206245422, 0.1148275348728609, -0.711992116755916, 0.22590982216153388, -0.9981399178504944, -0.39004284143447876, -0.3036975562572479, 4.690859714173712e-05, 0.006807504656333749, -0.04048971386985723], "max": [3.657812033886238, -0.745375107410652, 0.7036946721758675, 0.0, 0.0, 0.7075846791267395, 0.7181047201156616, 0.4603177657390499, 0.30343218442483444, 0.5910176225614521, 0.9996495842933655, 0.32301658391952515, 0.25918763875961304, 0.20279012620449066, 0.04076862702548041, -0.006367715985937466], "mean": [2.8172963481315825, -0.7769279379351315, 0.7007433570745565, 0.0, 0.0, 0.7052342627246307, 0.7089550986040107, 0.23693360777680755, -0.14215934426381238, 0.3670932250212828, 0.4143005707899035, -0.0494361406216585, 0.0301109751142155, 0.03629199257910043, 0.02842311800568957, -0.02825987570144862], "std": [0.42619990880869885, 0.04121841004901906, 0.001026366427352008, 0.0, 0.0, 0.003721497767033286, 0.003665181793523628, 0.07171816391020716, 0.2557290708754276, 0.0868718392826879, 0.8869629121023358, 0.1348388067014374, 0.1329503213234771, 0.03356824824249133, 0.013562401787063187, 0.013781175541458735], "count": [1145]}, "action": {"min": [-0.7714285714285714, -0.8428571428571429, -0.10857142857142858, 0.0, -1.0, -0.9642857142857144, -0.807142857142857, -0.7071428571428572, -0.09142857142857143, -0.2257142857142857, -0.3142857142857143, -1.0], "max": [0.5214285714285715, 1.0, 0.06285714285714286, 0.0, 1.0, 0.9571428571428572, 0.7428571428571429, 0.95, 0.3142857142857143, 0.24, 0.22285714285714286, 1.0], "mean": [0.01247036805988771, 0.01822208359326264, 0.00018964441671865263, 0.0, -0.6698689956331878, 0.016593886462882082, -0.010343106674984354, -0.013755458515283828, 0.004446662507797878, -0.0017442295695570815, -0.00039176543980037643, -0.21397379912663755], "std": [0.1237757160912156, 0.20012041437203162, 0.009167836843713164, 0.0, 0.7424793119605252, 0.20560764771331, 0.2776898055592122, 0.25005771457113113, 0.03368517691895385, 0.04138483928700489, 0.06480096954218498, 0.9768393999462256], "count": [1145]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013973799534142017], "std": [0.1173819974064827], "count": [1145]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008733624454148472], "std": [0.029539798297445873], "count": [1145]}, "timestamp": {"min": [0.0], "max": [57.2], "mean": [28.6], "std": [16.526645152601297], "count": [1145]}, "frame_index": {"min": [0], "max": [1144], "mean": [572.0], "std": [330.532903052026], "count": [1145]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1145]}, "index": {"min": [35215], "max": [36359], "mean": [35787.0], "std": [330.532903052026], "count": [1145]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1145]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49669957833481787]], [[0.4836521025943633]], [[0.4753219351507495]]], "std": [[[0.26003607318955124]], [[0.26280265692115606]], [[0.267756858838343]]], "count": [259]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42817344552897174]], [[0.42874889375223274]], [[0.42782079110545185]]], "std": [[[0.23405985862614964]], [[0.22994710013543734]], [[0.2283547627693836]]], "count": [259]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4356208816864478]], [[0.43611591612600487]], [[0.4351679801724322]]], "std": [[[0.23525013438703699]], [[0.2312305603805502]], [[0.2297803130444143]]], "count": [259]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1659]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1659]}, "observation.state": {"min": [0.7736350088065346, -3.226567799391077, 0.6999972623029117, 0.0, 0.0, -1.0, 0.0, 0.17208225267020805, -0.6283630788822472, 0.2277443375665753, -0.9980294108390808, -0.38472217321395874, -0.2867981195449829, 0.00030256801983341575, 0.004356978499041341, -0.04062538265101126], "max": [0.7790169342804744, -2.929591314360507, 0.7022534796722605, 0.0, 0.0, 1.0, 0.0043042851611971855, 0.5408436357706302, 0.4529422599999844, 0.5886732289141432, 0.9980824589729309, 0.42606011033058167, 0.2855580747127533, 0.15382179617881775, 0.04011847179344259, 0.0001959927419694211], "mean": [0.7772626461659278, -3.051423082452153, 0.7009335596444398, 0.0, 0.0, 0.7408062500577148, 0.0013531307967344288, 0.34242596545649107, -0.2204455627747675, 0.32639296938802187, -0.1666637500270869, 0.0659354341347186, 0.005587354351346884, 0.04925491147400739, 0.02868629721728619, -0.03083696007058646], "std": [0.0014799837778393958, 0.14352539773387749, 0.000668910713239168, 0.0, 0.0, 0.6717165727201109, 0.001079104804120848, 0.10049516620056176, 0.33393716794252176, 0.07459929244206454, 0.950196715362922, 0.20899967755092774, 0.13228697574250894, 0.036931583237252326, 0.013223560579747412, 0.013232391385393194], "count": [1659]}, "action": {"min": [-0.021428571428571432, -0.6357142857142857, -0.04285714285714286, 0.0, -1.0, -0.4857142857142857, -0.9285714285714287, -0.5785714285714286, -0.20285714285714287, -0.3142857142857143, -0.3514285714285714, -1.0], "max": [0.2642857142857143, 0.0, 0.0, 0.0, 1.0, 0.55, 1.0, 0.6642857142857144, 0.1657142857142857, 0.24571428571428575, 0.3, 1.0], "mean": [0.004469129423921468, -0.01695944200464997, -0.0005028846981830707, 0.0, -0.8830620855937311, 0.013110307414104889, 0.008951175406871556, -0.02570825798673903, -0.0014638766899164738, 0.0022061482820976523, 0.0014707655213984307, -0.1838456901748041], "std": [0.026749442194918607, 0.07543458173374941, 0.003827096204308171, 0.0, 0.4692561698974646, 0.1309523507295127, 0.32659984100073175, 0.18318952615488732, 0.035512683150871194, 0.057670681756456406, 0.06811995770359833, 0.9829551170852857], "count": [1659]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00964436400681734], "std": [0.09773100912570953], "count": [1659]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006027727546714888], "std": [0.024544030224837046], "count": [1659]}, "timestamp": {"min": [0.0], "max": [82.9], "mean": [41.45], "std": [23.94559806450168], "count": [1659]}, "frame_index": {"min": [0], "max": [1658], "mean": [829.0], "std": [478.9119612900336], "count": [1659]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1659]}, "index": {"min": [36360], "max": [38018], "mean": [37189.0], "std": [478.9119612900336], "count": [1659]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1659]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5997308953807516]], [[0.5965739598508542]], [[0.5957076148172216]]], "std": [[[0.28134493294935037]], [[0.2850449854524521]], [[0.2895105649510121]]], "count": [247]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.674407895754337]], [[0.6319308196229292]], [[0.587467525440085]]], "std": [[[0.22228962263140467]], [[0.21300722962051633]], [[0.20661892533590812]]], "count": [247]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6846037716073271]], [[0.6424573873635123]], [[0.5984456302684915]]], "std": [[[0.21605819985470917]], [[0.20898995607396517]], [[0.20499174853665916]]], "count": [247]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1553]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1553]}, "observation.state": {"min": [0.7893471003554273, -4.4125347218547075, 0.6999984666322382, 0.0, 0.0, -1.0, 1.646504159680262e-07, 0.15792862543984176, -0.6401651322224429, 0.22696322727878504, -0.999102771282196, -0.4368554949760437, -0.152204692363739, 2.8078313789592357e-06, 0.0007842665930641359, -0.040494428747572545], "max": [0.7929084540367697, -4.109420107213692, 0.7019925055142171, 0.0, 0.0, 1.0, 0.003076040418818593, 0.5055157469538201, 0.5214901820075921, 0.6018004244219257, 0.9998967051506042, 0.4372454583644867, 0.25179335474967957, 0.26542916893959045, 0.04000839494303763, -0.0007315287820883143], "mean": [0.7905328010197766, -4.258265162905659, 0.7005685800471803, 0.0, 0.0, -0.7334177190076898, 0.0013218706279464764, 0.33335433151343236, -0.15934674232999743, 0.353103492881833, 0.2880524483635897, -0.014226365580804604, 0.02145965922480621, 0.048901181690152846, 0.02753461061743324, -0.02802265444523851], "std": [0.0008570995878475901, 0.15017690836230055, 0.0005699420159634344, 0.0, 0.0, 0.6797760735210554, 0.0011102694220818438, 0.10108371249656892, 0.37296424982647586, 0.09410464549262318, 0.9326776733170462, 0.1776455691493793, 0.09428040929996241, 0.06030893937390409, 0.014943923649604927, 0.014663532414229666], "count": [1553]}, "action": {"min": [-0.17142857142857146, -0.7785714285714286, 0.0, 0.0, -1.0, -0.45714285714285713, -0.9785714285714284, -0.5428571428571429, -0.15714285714285714, -0.16857142857142857, -0.2914285714285714, -1.0], "max": [0.27142857142857146, 0.0, 0.02, 0.0, 1.0, 0.6285714285714287, 1.0, 0.8785714285714286, 0.17142857142857143, 0.18, 0.2142857142857143, 1.0], "mean": [0.00077729739674363, -0.00854567197129979, 1.655781436850336e-05, 0.0, -0.9330328396651641, 0.019368043418268803, 0.000584122895777783, -0.017698463802778043, 0.0016668199797626724, 0.006849415877104217, -0.002722840585042771, -0.20927237604636187], "std": [0.021890889533650405, 0.0661868191381311, 0.0005275581826629865, 0.0, 0.35979121738357556, 0.13279418100364793, 0.37146804513711235, 0.2145142959223413, 0.02728282146432072, 0.03614525137596725, 0.06081294666369511, 0.9778573886942387], "count": [1553]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010302640497684479], "std": [0.10097769647836685], "count": [1553]}, "next.done": {"min": [false], "max": [true], "mean": [0.000643915003219575], "std": [0.0253673092126107], "count": [1553]}, "timestamp": {"min": [0.0], "max": [77.6], "mean": [38.800000000000004], "std": [22.41561955423048], "count": [1553]}, "frame_index": {"min": [0], "max": [1552], "mean": [776.0], "std": [448.31239108460966], "count": [1553]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1553]}, "index": {"min": [38019], "max": [39571], "mean": [38795.0], "std": [448.31239108460966], "count": [1553]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1553]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4828752898184559]], [[0.4739454677214963]], [[0.4609122295677487]]], "std": [[[0.26503601859988657]], [[0.26081722444803235]], [[0.255553279759889]]], "count": [167]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5597737673205978]], [[0.5512632930084225]], [[0.539656748586352]]], "std": [[[0.22049528222806772]], [[0.2141006254159684]], [[0.20511953272809058]]], "count": [167]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5692170253644824]], [[0.559750893648709]], [[0.5470906356949474]]], "std": [[[0.22806637664359755]], [[0.22040362319604676]], [[0.20991952600249514]]], "count": [167]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [926]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [926]}, "observation.state": {"min": [3.0363949974707816, -3.916176038623304, 0.6999932824702878, 0.0, 0.0, 0.6998419165611267, 0.6965658068656921, 0.24668515717480544, -0.3490127814643502, 0.230086574840619, -0.9997617602348328, -0.7770942449569702, -0.24702197313308716, 4.774795797857223e-06, 0.011144804834583725, -0.04007596338650009], "max": [4.052992955280797, -3.6678269987956824, 0.7010910517381743, 0.0, 0.0, 0.717492938041687, 0.7142977714538574, 0.7588429392796896, 0.4479768960936634, 0.6028222185242762, 0.9995156526565552, 0.24710404872894287, 0.23510703444480896, 0.34632226824760437, 0.04031874931465886, -0.008379846294038198], "mean": [3.6866236753542916, -3.6940878024005674, 0.7003827896676872, 0.0, 0.0, 0.7095275475577196, 0.7046462493761569, 0.5240479727029799, 0.0024175648331807385, 0.3520901628709091, -0.09408470505514618, -0.13637917239589065, -0.013786566620181821, 0.05330212088316265, 0.030398263630014348, -0.03155654305350458], "std": [0.3255843672212198, 0.0428780773890911, 0.0002949891011737985, 0.0, 0.0, 0.004685413493454963, 0.004728642708298693, 0.10950768446763104, 0.19384935715214535, 0.08273117614740369, 0.9445950137491056, 0.23608515669516508, 0.13003835223249555, 0.0679094185148945, 0.010754014514945483, 0.010660700962288602], "count": [926]}, "action": {"min": [-1.0, -1.0, -0.08, 0.0, -1.0, -1.0, -1.0, -0.6857142857142858, -0.1, -0.37714285714285717, -0.6914285714285714, -1.0], "max": [0.7642857142857143, 1.0, 0.04857142857142857, 0.0, 1.0, 0.8142857142857143, 1.0, 1.0, 0.18571428571428572, 0.32, 0.3942857142857143, 1.0], "mean": [0.012357297130515272, -0.008909287257019437, -0.0008731872878741129, 0.0, -0.6976241900647948, 0.00987349583461892, -0.00010027769207033263, -0.03283708731872877, 0.0029219376735575417, -0.004711508793582232, -0.005393397099660594, -0.1447084233261339], "std": [0.15607800718590695, 0.2649378995885467, 0.007308182861114375, 0.0, 0.7164638786683094, 0.33652886770660045, 0.3163342762799349, 0.2976915963648433, 0.026638160698442367, 0.0810260018617414, 0.12712159752278723, 0.9894743413643742], "count": [926]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022678185254335403], "std": [0.1488754153251648], "count": [926]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010799136069114472], "std": [0.03284429012040076], "count": [926]}, "timestamp": {"min": [0.0], "max": [46.25], "mean": [23.125], "std": [13.365650938132418], "count": [926]}, "frame_index": {"min": [0], "max": [925], "mean": [462.5], "std": [267.31301876264837], "count": [926]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [926]}, "index": {"min": [39572], "max": [40497], "mean": [40034.5], "std": [267.31301876264837], "count": [926]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [926]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5629707092661829]], [[0.5320754369546935]], [[0.48271026766288094]]], "std": [[[0.2546121382891677]], [[0.22372393055803305]], [[0.191802435266154]]], "count": [251]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4822732047358208]], [[0.5147885823434204]], [[0.510545404549083]]], "std": [[[0.2761387515977266]], [[0.21304296983622073]], [[0.17527091805710662]]], "count": [251]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45815552701876316]], [[0.49088957817626555]], [[0.48882335909883745]]], "std": [[[0.25614330188768847]], [[0.20397199477427097]], [[0.17400752503389413]]], "count": [251]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1584]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1584]}, "observation.state": {"min": [2.9719983203725335, -1.767731673142066, 0.6999960028892525, 0.0, 0.0, -0.7152942419052124, 0.6988234519958496, 0.12285405865106536, -0.5137364603135408, 0.23183862459256432, -0.9963611960411072, -0.4079893231391907, -0.17572277784347534, 3.276342249591835e-05, -0.0005524423301784321, -0.040173077644949116], "max": [3.5676748608289324, -1.7407637185019127, 0.7026584805619193, 0.0, 0.0, -0.7068292498588562, 0.7073841691017151, 0.45540226933090366, 0.4796273006979108, 0.6023510738332349, 0.9990772604942322, 0.6231265664100647, 0.14872492849826813, 0.11394800990819931, 0.040324993598449536, -0.011451063378060893], "mean": [3.420565657568188, -1.7554070836726463, 0.7013658354458459, 0.0, 0.0, -0.7128134134291398, 0.701336940129598, 0.310166633065193, 0.018672000999016163, 0.35502522395863767, 0.34439104306276397, 0.01812713360884274, -0.03604118395424283, 0.025233155446215672, 0.033102794920739996, -0.032189028607561475], "std": [0.2539699078341811, 0.008686136294411291, 0.0007824264803552443, 0.0, 0.0, 0.0034107866565054896, 0.0034501291092228275, 0.0905261773653065, 0.2962829043909966, 0.07883504186773636, 0.9094644767620823, 0.2161479752656951, 0.06734379728374189, 0.02738199627384438, 0.010270318858598375, 0.010696784068778616], "count": [1584]}, "action": {"min": [-0.021428571428571432, 0.0, -0.16285714285714287, 0.0, -1.0, -0.75, -0.8571428571428572, -0.5714285714285715, -0.13142857142857142, -0.15714285714285714, -0.4371428571428572, -1.0], "max": [0.45, 0.7928571428571428, 0.0, 0.0, 1.0, 0.4785714285714286, 0.8857142857142857, 0.5357142857142857, 0.18, 0.18, 0.33714285714285713, 1.0], "mean": [0.005573593073593076, 0.01640512265512266, -0.0011165223665223665, 0.0, -0.8876262626262627, 0.015246212121212147, -0.008170995670995686, -0.016148088023088, 0.001511544011544012, 0.0034217171717171734, -0.0023484848484848497, -0.2335858585858586], "std": [0.03699173936343387, 0.09162458676892905, 0.011926194004318314, 0.0, 0.4605644557454809, 0.13671928405506478, 0.32214392408518794, 0.17381946740652354, 0.018248194978752196, 0.03372368461724288, 0.07407332398086885, 0.9723361798620536], "count": [1584]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017045455053448677], "std": [0.12944075465202332], "count": [1584]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006313131313131314], "std": [0.025118012959694142], "count": [1584]}, "timestamp": {"min": [0.0], "max": [79.15], "mean": [39.575], "std": [22.863066103798648], "count": [1584]}, "frame_index": {"min": [0], "max": [1583], "mean": [791.5], "std": [457.26132207597294], "count": [1584]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1584]}, "index": {"min": [40498], "max": [42081], "mean": [41289.5], "std": [457.26132207597294], "count": [1584]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1584]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22816028550091913]], [[0.21981246968188317]], [[0.21979747976664624]]], "std": [[[0.19991947668534762]], [[0.17394826558961293]], [[0.16289265853335674]]], "count": [225]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3269084049798305]], [[0.3107685408581835]], [[0.29566973119000206]]], "std": [[[0.21563465331270773]], [[0.21019060414846596]], [[0.2071812828610847]]], "count": [225]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3213809138944206]], [[0.3057142174415339]], [[0.2914287372663909]]], "std": [[[0.2106178140157919]], [[0.20441055271547645]], [[0.20062137985617418]]], "count": [225]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1371]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1371]}, "observation.state": {"min": [2.5731724118525405, -1.7132614181860786, 0.6999936293328253, 0.0, 0.0, -0.7072638869285583, 0.7069495916366577, 0.12935209803840642, -0.44785517229460403, 0.21917698078144365, -0.9964174032211304, -0.6427444219589233, -0.29394710063934326, 0.0001628618483664468, -0.0026151618829013557, -0.04075381609323359], "max": [3.0770214145385637, -1.6224115156546852, 0.7119839567577891, 0.0, 0.0, -0.7062428593635559, 0.7079696655273438, 0.6301677235738092, 0.70812628268405, 0.6007835711749425, 0.999638020992279, 0.3824600577354431, 0.2563781440258026, 0.19992896914482117, 0.04044283916544365, -0.008443112936673013], "mean": [2.873437982262165, -1.6910100223283304, 0.7069155372294124, 0.0, 0.0, -0.7068630349975186, 0.7073502950560516, 0.400504485618647, 0.17871054354603513, 0.3164972382214338, -0.3547245863577817, -0.12805456848696886, -0.05745162725391547, 0.07931275901737761, 0.03037848823699032, -0.030672984757744173], "std": [0.24404665619982033, 0.027145105773188474, 0.00382100757884647, 0.0, 0.0, 0.0002919409168500847, 0.0002917176682124307, 0.10904296383005815, 0.30304764687135655, 0.08811042133498058, 0.8844009933904364, 0.21615684058292362, 0.1307414999188476, 0.04689409294648525, 0.011880192704292442, 0.010916476056844173], "count": [1371]}, "action": {"min": [-0.5714285714285715, -0.5714285714285715, -0.002857142857142857, 0.0, -1.0, -0.8357142857142857, -0.8785714285714286, -0.6857142857142858, -0.19142857142857142, -0.15714285714285714, -0.3628571428571429, -1.0], "max": [0.41428571428571426, 0.05, 0.017142857142857144, 0.0, 1.0, 0.942857142857143, 1.0, 0.75, 0.2742857142857143, 0.19428571428571428, 0.18571428571428572, 1.0], "mean": [-0.0005209961446285302, -0.017896217567989998, 2.917578409919767e-05, 0.0, -0.8584974471188913, 0.020120871105553793, 0.016578097322079828, -0.032082942586224836, 0.0044409711368135875, 0.0020631447327289815, 6.668750651244672e-05, -0.16411378555798686], "std": [0.048874524756779524, 0.08659603194924216, 0.0006541056280378675, 0.0, 0.5128178363613523, 0.2759587409930608, 0.3612635462808616, 0.22591739054149962, 0.05056119079553919, 0.04249060866623147, 0.0793205360516857, 0.9864414150824321], "count": [1371]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020423049107193947], "std": [0.14144238829612732], "count": [1371]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007293946024799417], "std": [0.02699745517625346], "count": [1371]}, "timestamp": {"min": [0.0], "max": [68.5], "mean": [34.25], "std": [19.788675212521596], "count": [1371]}, "frame_index": {"min": [0], "max": [1370], "mean": [685.0], "std": [395.7735042504319], "count": [1371]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1371]}, "index": {"min": [42082], "max": [43452], "mean": [42767.0], "std": [395.7735042504319], "count": [1371]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1371]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.261315406049905]], [[0.23138160923876316]], [[0.22803908610323803]]], "std": [[[0.20356579837307942]], [[0.17414379848432493]], [[0.1683470050669842]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5368207443900108]], [[0.4200483000583794]], [[0.39744926586485746]]], "std": [[[0.3058792700539991]], [[0.3429228413078846]], [[0.31021400229846025]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5474593493490866]], [[0.42820797379910025]], [[0.40692001530305233]]], "std": [[[0.2993584458448392]], [[0.3413419979918169]], [[0.31162425740212235]]], "count": [209]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1245]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1245]}, "observation.state": {"min": [4.388218193754643, -2.0634389385443854, 0.6999984892265431, 0.0, 0.0, 0.00015091756358742714, 0.9999980926513672, 0.20104774509112122, -0.6265894450344942, 0.22799494854929048, -0.9987673759460449, -0.38915446400642395, -0.2525302767753601, 3.631357321864925e-05, 0.0012256420066866528, -0.04067258900754728], "max": [4.38978893291656, -2.060752026551445, 0.7028303580029951, 0.0, 0.0, 0.0019754134118556976, 1.0, 0.5293332192149292, 0.5799346940452605, 0.6331254715010839, 0.9999726414680481, 0.3609689772129059, 0.2584494650363922, 0.11578988283872604, 0.04001533948969117, -0.011106072721110971], "mean": [4.38857452394257, -2.0613581402894807, 0.7021746900189736, 0.0, 0.0, 0.0015663339130404634, 0.9999986992303627, 0.33277675095877474, -0.15079733026721295, 0.32787279590583057, 0.16506415074130137, -0.0010595892339077101, 0.02294966746928429, 0.032635606212531997, 0.03171635303997616, -0.033569712980335245], "std": [0.000376178230667959, 0.0006493766389754703, 0.0006750170708707941, 0.0, 0.0, 0.00046172409779752436, 5.222208797905094e-07, 0.08516440713097537, 0.35085846159321127, 0.08285429492356122, 0.9670732349894792, 0.14937255731903246, 0.11374817865079183, 0.026066867868763412, 0.010448602873987158, 0.00935043966547723], "count": [1245]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6642857142857144, -0.9785714285714284, -0.7142857142857143, -0.12857142857142856, -0.19428571428571428, -0.3857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.75, 1.0, 0.8500000000000001, 0.13142857142857142, 0.19714285714285715, 0.28285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02111302352266211, -0.007332185886402788, -0.020877796901893304, -0.0016362593230063104, 0.001895582329317273, -0.0013241537578886976, -0.2289156626506024], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2124685400550377, 0.43214564871580824, 0.24195341601152168, 0.027295752177763626, 0.0423270322047853, 0.059986916976407754, 0.9734462591192287], "count": [1245]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012851405888795853], "std": [0.11263324320316315], "count": [1245]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008032128514056225], "std": [0.028329625845057667], "count": [1245]}, "timestamp": {"min": [0.0], "max": [62.2], "mean": [31.1], "std": [17.970021331836715], "count": [1245]}, "frame_index": {"min": [0], "max": [1244], "mean": [622.0], "std": [359.4004266367344], "count": [1245]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1245]}, "index": {"min": [43453], "max": [44697], "mean": [44075.0], "std": [359.4004266367344], "count": [1245]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1245]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6025322344244126]], [[0.5715389182513844]], [[0.5391268190959744]]], "std": [[[0.2662673208531504]], [[0.26882317273666967]], [[0.2590421581364289]]], "count": [267]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5450343321745394]], [[0.4803014185579721]], [[0.43339183017651994]]], "std": [[[0.21977092793469266]], [[0.25703628717605953]], [[0.28279656310497797]]], "count": [267]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5262271459489403]], [[0.45762597903671653]], [[0.410617834588299]]], "std": [[[0.20851182033488164]], [[0.2439593080582415]], [[0.27047163097016536]]], "count": [267]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1725]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1725]}, "observation.state": {"min": [0.7794396026646504, -3.5854344409102517, 0.699998729216488, 0.0, 0.0, -1.0, 8.16524234892313e-08, -0.013943133242390493, -0.14129233753752501, 0.22562265487813826, -0.9989373683929443, -0.4912438988685608, -0.4576592743396759, 0.00012269715080037713, 0.010249278700416338, -0.04007537513627506], "max": [0.8736983947101111, -2.099694594737456, 0.7059743555783665, 0.0, 0.0, 1.0, 0.1148621067404747, 0.5832513667705181, 0.5744809737669607, 0.6498321758467374, 0.9996508955955505, 0.3182806670665741, 0.16875216364860535, 0.3442743420600891, 0.04120258640437001, -0.006946926636201927], "mean": [0.8023164048195177, -2.7126370425312296, 0.7030481899145319, 0.0, 0.0, 0.49185467512711234, 0.0436701910194936, 0.2313015861022382, 0.18955152825638005, 0.4161410162456357, -0.7120652643493984, -0.06667006843439911, -0.13653110507895083, 0.071555458518501, 0.0316500961737574, -0.031097606436398674], "std": [0.01865524848427173, 0.5266856675922618, 0.0018967092109068925, 0.0, 0.0, 0.8689786860027126, 0.03237223818760837, 0.1315690550943535, 0.19060461258795489, 0.13045465974274734, 0.6414699971737812, 0.1763884275186008, 0.14011422374429333, 0.05028522173086888, 0.011529393741802589, 0.011895590535966819], "count": [1725]}, "action": {"min": [-0.5625000000000001, -1.0, -0.21642857142857144, 0.0, -1.0, -0.8624999999999999, -0.6428571428571429, -0.5357142857142857, -0.21642857142857144, -0.2828571428571429, -0.19500000000000003, -1.0], "max": [0.5785714285714285, 1.0, 0.07714285714285715, 0.0, 1.0, 0.6696428571428571, 0.8196428571428573, 1.0, 0.18, 0.16285714285714287, 0.2721428571428572, 1.0], "mean": [0.00472049689440994, -0.0016055900621117932, -0.0036012422360248457, 0.0, -0.7043478260869566, 0.004518633540372679, 0.022919254658385096, -0.008773291925465807, -0.0013801242236024833, 0.00433788819875777, -0.0005801242236024903, -0.12115942028985507], "std": [0.08493401038078004, 0.22542241743768496, 0.02345504863252067, 0.0, 0.7098550132855044, 0.2667792516843796, 0.2150232043196628, 0.27958526742708956, 0.03553678068605089, 0.056117247427990555, 0.06362527355217994, 0.9926330615464342], "count": [1725]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016811594367027283], "std": [0.1285650134086609], "count": [1725]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005797101449275362], "std": [0.024070190715393267], "count": [1725]}, "timestamp": {"min": [0.0], "max": [86.2], "mean": [43.1], "std": [24.898226175104657], "count": [1725]}, "frame_index": {"min": [0], "max": [1724], "mean": [862.0], "std": [497.96452350209313], "count": [1725]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1725]}, "index": {"min": [44698], "max": [46422], "mean": [45560.0], "std": [497.96452350209313], "count": [1725]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1725]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41771304422127825]], [[0.4045233890641489]], [[0.38967058850789127]]], "std": [[[0.20439424799617556]], [[0.20549779456004155]], [[0.21200887900625262]]], "count": [216]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5781434969877799]], [[0.4405203437666661]], [[0.4006205118992403]]], "std": [[[0.17927122132251816]], [[0.22043215787592857]], [[0.214374764121914]]], "count": [216]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5943863449706145]], [[0.4671721317842549]], [[0.42199239128295635]]], "std": [[[0.18768182828565885]], [[0.22798849614405495]], [[0.2202162630712911]]], "count": [216]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1300]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1300]}, "observation.state": {"min": [0.8122035707717086, -1.2581515244527792, 0.6999982184711456, 0.0, 0.0, -1.0, 0.0, 0.17011397464177702, -0.4629368034990873, 0.2245310247272705, -0.9987723231315613, -0.36111992597579956, -0.19344542920589447, 2.6036263079731725e-05, -0.0002389770650371786, -0.041955064035585736], "max": [0.8148181971120229, -1.253679576161058, 0.7061007789228902, 0.0, 0.0, 1.0, 0.0011319882469251752, 0.5292947951956226, 0.67319037812411, 0.6087262705785671, 0.9977561235427856, 0.5895975828170776, 0.20718204975128174, 0.08105451613664627, 0.04026297104927458, -0.003891880477447878], "mean": [0.812714991726056, -1.254639796530055, 0.7014579671078547, 0.0, 0.0, 0.45384601308749273, 0.0004502322222194703, 0.33656843972344574, -0.0003708668297020918, 0.32975710061516283, 0.059991771945586574, 0.061944732763446295, 0.038397465813054275, 0.030028496843441155, 0.031177857698078248, -0.0317764524588729], "std": [0.0007050154625093225, 0.0012846320086694273, 0.001600726196709573, 0.0, 0.0, 0.8910799710953693, 0.00034401712447758455, 0.08962713533790018, 0.358761499721801, 0.08153833446967985, 0.9684238051327533, 0.2114147050334283, 0.08489968229867888, 0.020951428069859706, 0.010606066599872128, 0.010057391294421082], "count": [1300]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5857142857142857, -0.9714285714285714, -0.5142857142857143, -0.09142857142857143, -0.21142857142857144, -0.3514285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 1.0, 0.9357142857142857, 0.12, 0.18571428571428572, 0.2542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.024906593406593427, 0.0005549450549450036, -0.023296703296703285, 0.0017208791208791212, 0.0016439560439560409, 0.001995604395604403, -0.15076923076923077], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17644433992045577, 0.3945742271922983, 0.2319189179317342, 0.020389210228271115, 0.04527187102920245, 0.07594792055665267, 0.9885689854801489], "count": [1300]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016153845936059952], "std": [0.12606704235076904], "count": [1300]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007692307692307692], "std": [0.027724340447600155], "count": [1300]}, "timestamp": {"min": [0.0], "max": [64.95], "mean": [32.475], "std": [18.76387819721712], "count": [1300]}, "frame_index": {"min": [0], "max": [1299], "mean": [649.5], "std": [375.2775639443424], "count": [1300]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1300]}, "index": {"min": [46423], "max": [47722], "mean": [47072.5], "std": [375.2775639443424], "count": [1300]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1300]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5614230794100734]], [[0.5646385574834412]], [[0.5509214151981779]]], "std": [[[0.23354030870260872]], [[0.2405022514448957]], [[0.23776737621796967]]], "count": [197]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.06274509803921569]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5239155980927725]], [[0.5237696455808093]], [[0.5228365363820319]]], "std": [[[0.28957211288424806]], [[0.2755938934070709]], [[0.25550480284773264]]], "count": [197]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.08235294117647059]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.523023783760758]], [[0.525371350963946]], [[0.5271241993076874]]], "std": [[[0.29476784267305806]], [[0.2805944756030494]], [[0.2589066022855162]]], "count": [197]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1147]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1147]}, "observation.state": {"min": [2.7380821534647044, -0.8235601317782202, 0.6999977427386994, 0.0, 0.0, 0.7069728970527649, 0.7062903046607971, 0.1331164707361736, -0.4189681626985373, 0.2242969046743719, -0.9996601343154907, -0.6831285953521729, -0.33483412861824036, 6.06454377702903e-05, 0.0006074589467079133, -0.04123985428431141], "max": [3.395592042924648, -0.7867119880667948, 0.7064218586761069, 0.0, 0.0, 0.7079223990440369, 0.707240641117096, 0.6782053580339702, 0.7252947434538815, 0.5856077626018049, 0.9998850226402283, 0.5875006318092346, 0.41304728388786316, 0.17939648032188416, 0.040643907475022965, -0.006162378245365906], "mean": [3.1575949248324586, -0.811073196572082, 0.702376929627333, 0.0, 0.0, 0.7074307482868251, 0.7067825758363646, 0.3796124504736434, -0.019717785704048148, 0.34246220295440827, 0.2587671064769276, -0.08194275246567718, 0.1016677436155958, 0.04890227593822908, 0.028974715639107928, -0.029796704745987102], "std": [0.31133791187359533, 0.017307939793286032, 0.0022142539287800054, 0.0, 0.0, 0.00024803946861662156, 0.00024820071858079915, 0.11067169154585658, 0.27007105277183274, 0.07060688779903374, 0.8971789691581435, 0.2505620739423034, 0.21035653414206468, 0.04044599128098897, 0.013335146128311434, 0.012980015939138773], "count": [1147]}, "action": {"min": [-0.41428571428571426, -0.6857142857142858, 0.0, 0.0, -1.0, -0.6071428571428572, -1.0, -0.6428571428571428, -0.23428571428571432, -0.27714285714285714, -0.39714285714285713, -1.0], "max": [0.0, 0.14285714285714288, 0.008571428571428572, 0.0, 1.0, 0.5928571428571429, 1.0, 0.8785714285714286, 0.15428571428571428, 0.19142857142857142, 0.3057142857142857, 1.0], "mean": [-0.0023726491468426952, -0.021266658363432566, 2.98916427948686e-05, 0.0, -0.8744551002615518, 0.02886411757379498, 0.008855399177979836, -0.024031635321957887, -0.007390708681031255, -0.008576410511894372, -0.003078839207871461, -0.1874455100261552], "std": [0.028862974848810324, 0.10737020978135482, 0.0004762901841909962, 0.0, 0.4851064600956686, 0.1846136891196839, 0.4468853967141527, 0.2460465900308688, 0.041511066552201846, 0.05004106610375248, 0.09723249416488913, 0.9822750026194479], "count": [1147]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024411508813500404], "std": [0.15432299673557281], "count": [1147]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008718395815170009], "std": [0.029514055588161735], "count": [1147]}, "timestamp": {"min": [0.0], "max": [57.3], "mean": [28.650000000000002], "std": [16.55551267705111], "count": [1147]}, "frame_index": {"min": [0], "max": [1146], "mean": [573.0], "std": [331.1102535410222], "count": [1147]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1147]}, "index": {"min": [47723], "max": [48869], "mean": [48296.0], "std": [331.1102535410222], "count": [1147]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1147]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48340936476184476]], [[0.46255719557228137]], [[0.44514918862895464]]], "std": [[[0.28959219943638653]], [[0.2785133866701893]], [[0.26990454133423075]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.03529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5380683273655985]], [[0.5350907393734964]], [[0.5209965848659903]]], "std": [[[0.26003820287973384]], [[0.22429111394976284]], [[0.1970452186211258]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5299516760065291]], [[0.5272479145466781]], [[0.5132059054720678]]], "std": [[[0.26621014299972373]], [[0.23265258492669547]], [[0.206842090316057]]], "count": [217]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1308]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1308]}, "observation.state": {"min": [4.4005228944849115, -1.991641386925921, 0.6999976815387273, 0.0, 0.0, -0.005367524456232786, 0.9999855756759644, 0.1964120408604657, -0.6267539999415637, 0.22871654034172895, -0.9998419284820557, -0.459262877702713, -0.21352912485599518, 2.115450297424104e-05, 0.011909567193362587, -0.04042515512072897], "max": [4.419778571200664, -1.6067371064935896, 0.7014653836834159, 0.0, 0.0, 0.00038936076452955604, 1.0, 0.5859063404996858, 0.2992620549169822, 0.600039965717785, 0.9997579455375671, 0.16120122373104095, 0.20407646894454956, 0.18265478312969208, 0.040576881730454054, -0.011433949818170835], "mean": [4.410215174552949, -1.79309890532709, 0.7006595518814606, 0.0, 0.0, -0.002553617937567704, 0.9999934322790268, 0.35063215975630696, -0.17650121780228345, 0.3395206502104759, 0.18858171293130344, -0.11447201760781969, 0.014311080593654355, 0.04223934167793307, 0.02975234012980671, -0.030069822082832966], "std": [0.009338858317540548, 0.18996236472590636, 0.0004314960636656344, 0.0, 0.0, 0.0025810662718566066, 6.470160522997607e-06, 0.10442511792029098, 0.2523122738034777, 0.07594730586251379, 0.9514783767095017, 0.18375729979133618, 0.09064011456561472, 0.045284081663145466, 0.011505134777595315, 0.011495387697796948], "count": [1308]}, "action": {"min": [0.0, 0.0, -0.014285714285714287, 0.0, -1.0, -0.5285714285714286, -0.9642857142857144, -0.4857142857142857, -0.09714285714285714, -0.24571428571428575, -0.2885714285714286, -1.0], "max": [0.41428571428571426, 0.7857142857142857, 0.0, 0.0, 1.0, 0.5428571428571429, 0.6285714285714287, 0.5714285714285715, 0.1742857142857143, 0.18285714285714286, 0.22, 1.0], "mean": [0.0038717780690257744, 0.014848186981214507, -4.36871996505024e-05, 0.0, -0.9235474006116208, 0.007841852337265202, -0.01275120139799042, -0.018255788553953718, 0.00025557011795543773, 0.0011861074705111396, -0.0008737439930100482, -0.04281345565749235], "std": [0.03185865773652604, 0.08585817095938565, 0.0006873205920243733, 0.0, 0.3834842875836222, 0.15576933012411634, 0.25117497029625474, 0.18054381723040075, 0.020022538383922397, 0.036015209318053916, 0.06606000932531024, 0.9990830836395274], "count": [1308]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022171253338456154], "std": [0.14724023640155792], "count": [1308]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007645259938837921], "std": [0.027639491563494215], "count": [1308]}, "timestamp": {"min": [0.0], "max": [65.35], "mean": [32.675000000000004], "std": [18.879348285008852], "count": [1308]}, "frame_index": {"min": [0], "max": [1307], "mean": [653.5], "std": [377.586965700177], "count": [1308]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1308]}, "index": {"min": [48870], "max": [50177], "mean": [49523.5], "std": [377.586965700177], "count": [1308]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1308]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5378515652199268]], [[0.5368456473665016]], [[0.5353366472376859]]], "std": [[[0.27281937735158185]], [[0.27434684100976825]], [[0.27703604582455665]]], "count": [220]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.416500265084061]], [[0.3777529425799528]], [[0.35384630580636905]]], "std": [[[0.29227163902515946]], [[0.292612165457095]], [[0.3025287470866627]]], "count": [220]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43740205380580854]], [[0.39074251253124653]], [[0.3608486938476563]]], "std": [[[0.2813141946926388]], [[0.28044341876015494]], [[0.2920619571694173]]], "count": [220]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1329]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1329]}, "observation.state": {"min": [0.8035948551226728, -2.286068771716751, 0.6999986979844053, 0.0, 0.0, 1.0, 3.558671232894994e-05, 0.0404611559605349, -0.7763056072538903, 0.2316412870967265, -0.9919509291648865, -0.4191434979438782, -0.4172898232936859, 0.00015180680202320218, 0.000805388105882082, -0.041112672226606084], "max": [0.8037287044456112, -2.285847771245432, 0.7047584439106803, 0.0, 0.0, 1.0, 0.0002261102054035291, 0.47917100366604826, 0.7165856283927639, 0.5921053194866952, 0.9889737367630005, 0.4712349474430084, 0.3367498517036438, 0.30482056736946106, 0.04028302964684727, -0.0014601848239783988], "mean": [0.8036585965136328, -2.285889145707072, 0.7016198774771918, 0.0, 0.0, 1.0, 0.00015070815008504007, 0.2745862617565849, 0.01542324191877634, 0.34896207017270037, 0.07513555523324857, 0.1315664330580075, -0.006413848157171468, 0.11986673982191846, 0.028881189376523564, -0.03021992864606156], "std": [6.860453023437415e-06, 1.453989888835986e-05, 0.0013522705408393519, 0.0, 0.0, 0.0, 1.5712510163278777e-05, 0.10126090917779217, 0.4515825605808943, 0.08739229983117276, 0.9378848177427245, 0.16981723967311269, 0.22243794497470523, 0.06849293791128597, 0.013185179922933167, 0.012216894126738468], "count": [1329]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7571428571428572, -0.6285714285714287, -0.6428571428571428, -0.2714285714285714, -0.21142857142857144, -0.32285714285714284, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45714285714285713, 0.7428571428571429, 0.5857142857142857, 0.2285714285714286, 0.1142857142857143, 0.14285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01564011609158337, -0.003058153283886892, -0.03295711060948075, -0.0048779963452649676, -0.0012490594431903716, 0.00011824142749650362, -0.21595184349134688], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1764845506148186, 0.26601275769046984, 0.18812047458771144, 0.04812640430482039, 0.03557614939033725, 0.04784476594217707, 0.9764040154017657], "count": [1329]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011286681517958641], "std": [0.1056375503540039], "count": [1329]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007524454477050414], "std": [0.027420417092985098], "count": [1329]}, "timestamp": {"min": [0.0], "max": [66.4], "mean": [33.2], "std": [19.182457263517275], "count": [1329]}, "frame_index": {"min": [0], "max": [1328], "mean": [664.0], "std": [383.6491452703455], "count": [1329]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1329]}, "index": {"min": [50178], "max": [51506], "mean": [50842.0], "std": [383.6491452703455], "count": [1329]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1329]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5410553681379237]], [[0.5365629837886218]], [[0.5333018186861876]]], "std": [[[0.24726332618761976]], [[0.24503332594542068]], [[0.24569983882868457]]], "count": [252]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3993313435264514]], [[0.43463845037798104]], [[0.4419226524431387]]], "std": [[[0.2603108379535171]], [[0.23192551916860232]], [[0.22807692737305676]]], "count": [252]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3870410796900683]], [[0.42541441978267003]], [[0.4337286508977506]]], "std": [[[0.2595012498953019]], [[0.23079640508890834]], [[0.22735411542920708]]], "count": [252]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1598]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1598]}, "observation.state": {"min": [4.814532558318696, -5.638374507358785, 0.6999976659431841, 0.0, 0.0, -0.018895387649536133, 0.9998214840888977, 0.014798686319241305, -0.6990689839055273, 0.22702195007713255, -0.9991709589958191, -0.3677626848220825, -0.2761639356613159, 4.40015755884815e-05, 0.007232343143739236, -0.040377686345126146], "max": [4.931169540467073, -4.2954266357500925, 0.7025619408121185, 0.0, 0.0, 0.00033115409314632416, 1.0, 0.4248155719976614, 0.2549007563687038, 0.6034212366733585, 0.9991084933280945, 0.18287353217601776, 0.16389071941375732, 0.10494895279407501, 0.04046813197607772, -0.007653462788964467], "mean": [4.90990999213413, -4.649023711332996, 0.7008293138558374, 0.0, 0.0, -0.005842949806549918, 0.9999770276686725, 0.2272348925439207, -0.14164020314021616, 0.40014608921142875, -0.09197493044843662, -0.07589021421157673, -0.011655731853241922, 0.040050581652207935, 0.0330037350365896, -0.030915188405676097], "std": [0.029885900324011224, 0.48906809070012675, 0.0005449704940448112, 0.0, 0.0, 0.0034439632313335846, 2.2178232531146597e-05, 0.11075399115358961, 0.24486589102148307, 0.10202164586112329, 0.9759153622847124, 0.1409071132620671, 0.10423017042973802, 0.030196709537303315, 0.010724509584451276, 0.01066462058718508], "count": [1598]}, "action": {"min": [-0.46428571428571436, -0.7357142857142858, -0.11714285714285716, 0.0, -1.0, -0.6571428571428571, -0.7000000000000001, -0.5857142857142857, -0.1457142857142857, -0.13714285714285715, -0.36, -1.0], "max": [0.5285714285714286, 1.0, 0.10285714285714286, 0.0, 1.0, 0.6500000000000001, 0.8285714285714285, 0.7357142857142858, 0.16, 0.11142857142857143, 0.20857142857142857, 1.0], "mean": [0.006606472376184514, 0.009525299481494732, -5.721437511174694e-05, 0.0, -0.7834793491864831, 0.012202753441802236, -0.0015376363311281713, -0.022170570355801923, -0.0019184695154657611, 0.002367244770248528, -0.0022760593599141774, -0.07384230287859825], "std": [0.07376584307526884, 0.180907235478164, 0.00928254610409563, 0.0, 0.6214178219188273, 0.16803495035697716, 0.2815060839767079, 0.20021481815510853, 0.026468132212177496, 0.026165754728464503, 0.050842404290939364, 0.9972699305130943], "count": [1598]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013767208904027939], "std": [0.11652326583862305], "count": [1598]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006257822277847309], "std": [0.02500781126744441], "count": [1598]}, "timestamp": {"min": [0.0], "max": [79.85], "mean": [39.925], "std": [23.065138737930887], "count": [1598]}, "frame_index": {"min": [0], "max": [1597], "mean": [798.5], "std": [461.3027747586177], "count": [1598]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1598]}, "index": {"min": [51507], "max": [53104], "mean": [52305.5], "std": [461.3027747586177], "count": [1598]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1598]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5208403335226993]], [[0.5098490433218866]], [[0.5058351702215119]]], "std": [[[0.3335826322240609]], [[0.3347902608448212]], [[0.3310839256670354]]], "count": [199]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44653617910756677]], [[0.377071032184417]], [[0.3522789660739551]]], "std": [[[0.27833120254282234]], [[0.27335158792754]], [[0.27872965532613303]]], "count": [199]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45220492193177125]], [[0.39037854492235613]], [[0.3669038428850556]]], "std": [[[0.27748574263292003]], [[0.2754215236101168]], [[0.28107585973918875]]], "count": [199]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1165]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1165]}, "observation.state": {"min": [0.8048402916220231, -1.2309390971318732, 0.6999961478573192, 0.0, 0.0, -1.0, 0.0, 0.10715238270855154, -0.6704154434002225, 0.23486378996853519, -0.9990014433860779, -0.521801233291626, -0.17040416598320007, 0.00010925568494712934, 0.011223370116457862, -0.04040337425346432], "max": [0.8054729547339874, -1.2297663918364319, 0.7017098352040115, 0.0, 0.0, 1.0, 0.0009847898036241531, 0.556761137780773, 0.7920243893020946, 0.5935691484345562, 0.9998557567596436, 0.521872878074646, 0.23653286695480347, 0.21108084917068481, 0.04037744110696314, -0.01112435454329717], "mean": [0.8052229454400597, -1.2303505613080288, 0.7012076425566284, 0.0, 0.0, 0.5193132665535922, 0.0003051674871622014, 0.3099566563875432, -0.020360186992058816, 0.35952009411326213, -0.4897564640372608, -0.05963159453427587, -0.009648041183762493, 0.0638774684617656, 0.029328593744906588, -0.03162470976902828], "std": [0.0002016253291649555, 0.00034760046239465554, 0.0005360955553211389, 0.0, 0.0, 0.8545838882768557, 0.0002550297475297614, 0.11281789920218989, 0.4539960890901487, 0.08932371488254284, 0.8427178937362673, 0.16214904720037343, 0.11603251953857442, 0.049799148307942354, 0.011626113110876852, 0.0115342247643828], "count": [1165]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9214285714285714, -1.0, -0.8357142857142857, -0.17142857142857143, -0.4257142857142857, -0.46857142857142864, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6785714285714286, 1.0, 0.6357142857142857, 0.34285714285714286, 0.3914285714285714, 0.3657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00020232985898221569, 0.017437155119558553, -0.03053341508277134, -0.0001961986511342727, -0.002405885959534029, 0.0012385039852851009, -0.04034334763948498], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2390732069939216, 0.4670182392987233, 0.22454728066981852, 0.05022939452690886, 0.07160404878525084, 0.08025518093049358, 0.9991858757514742], "count": [1165]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013733905740082264], "std": [0.11638422310352325], "count": [1165]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008583690987124463], "std": [0.029285359844175074], "count": [1165]}, "timestamp": {"min": [0.0], "max": [58.2], "mean": [29.1], "std": [16.815320395401333], "count": [1165]}, "frame_index": {"min": [0], "max": [1164], "mean": [582.0], "std": [336.30640790802664], "count": [1165]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1165]}, "index": {"min": [53105], "max": [54269], "mean": [53687.0], "std": [336.30640790802664], "count": [1165]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1165]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46613962387933694]], [[0.4623350728841341]], [[0.4576718080420645]]], "std": [[[0.32960525024017556]], [[0.33041195960201586]], [[0.32686681703766857]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45342507944339844]], [[0.4139698457508003]], [[0.39581348286384865]]], "std": [[[0.28803380738010786]], [[0.3010197810031444]], [[0.3065184366258118]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4728093855950583]], [[0.4250427386530784]], [[0.40160675873132456]]], "std": [[[0.27641598203241335]], [[0.28964611972521354]], [[0.2952741662695104]]], "count": [196]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1144]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1144]}, "observation.state": {"min": [2.6479565151971434, -2.40997933791436, 0.699998571773363, 0.0, 0.0, -0.7071691751480103, 0.7070443034172058, 0.022717779213285105, -0.30694965988764533, 0.2226899103336536, -0.9993383884429932, -0.5060380101203918, -0.348921537399292, 2.9599732442875393e-05, -0.00035261124355258865, -0.041128853480125536], "max": [3.2304503882557736, -2.2687816000716885, 0.7066391120874096, 0.0, 0.0, -0.7066602110862732, 0.7075530886650085, 0.5289653651980131, 0.8201009051129584, 0.5984367701401215, 0.9994334578514099, 0.29021623730659485, 0.2340843826532364, 0.361985981464386, 0.04061120589177719, -0.010749286679994658], "mean": [2.9907206074526744, -2.3757940379202966, 0.7029835930587878, 0.0, 0.0, -0.7070421433219543, 0.7071713792173179, 0.3074136109867534, 0.192013959063218, 0.33242160067760224, -0.5448042058965543, -0.036455727289789, -0.12588947876910125, 0.0916814264486837, 0.03094098624187588, -0.031762067054972955], "std": [0.28369210231724223, 0.041303534362396185, 0.0018185189008589112, 0.0, 0.0, 8.769253822653468e-05, 8.768324353712849e-05, 0.1258685469908207, 0.2620410040619305, 0.08709123939083231, 0.7881183463344639, 0.17413685250525307, 0.14432212689623855, 0.07295660380688045, 0.010613128771708714, 0.009715920404842556], "count": [1144]}, "action": {"min": [-0.7857142857142857, -0.6571428571428571, 0.0, 0.0, -1.0, -0.8428571428571429, -1.0, -0.6500000000000001, -0.26285714285714284, -0.20857142857142857, -0.28, -1.0], "max": [0.45714285714285713, 0.0, 0.0, 0.0, 1.0, 0.7214285714285715, 0.7642857142857143, 1.0, 0.35714285714285715, 0.26, 0.2857142857142857, 1.0], "mean": [0.0012050449550449558, -0.019336913086913092, 0.0, 0.0, -0.8513986013986014, 0.0035651848151847915, -0.0012799700299700074, -0.043937312687312706, -0.0017507492507492495, -0.005432067932067931, -0.0003646353646353615, -0.1555944055944056], "std": [0.06948480351458543, 0.1019733800283132, 0.0, 0.0, 0.5245192289482848, 0.25092184108502963, 0.35753900761715596, 0.269783353706276, 0.06826874241369359, 0.05475726098091594, 0.06446248130963693, 0.9878210267795084], "count": [1144]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03758741170167923], "std": [0.1901962161064148], "count": [1144]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008741258741258741], "std": [0.029552694937721974], "count": [1144]}, "timestamp": {"min": [0.0], "max": [57.15], "mean": [28.575000000000003], "std": [16.512211390361983], "count": [1144]}, "frame_index": {"min": [0], "max": [1143], "mean": [571.5], "std": [330.24422780723967], "count": [1144]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1144]}, "index": {"min": [54270], "max": [55413], "mean": [54841.5], "std": [330.24422780723967], "count": [1144]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1144]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[0.996078431372549]], [[0.996078431372549]]], "mean": [[[0.5226579654644347]], [[0.4721532502578013]], [[0.43078876190696364]]], "std": [[[0.2514192707944476]], [[0.2217705186464136]], [[0.19167622137763654]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4218288202345058]], [[0.4309884037873438]], [[0.4153861035529875]]], "std": [[[0.2434264323627248]], [[0.2305392236225464]], [[0.22608193422031803]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40150296138725117]], [[0.4041952087022881]], [[0.38870404382575247]]], "std": [[[0.2586581542456449]], [[0.2491609550662219]], [[0.24521456986517787]]], "count": [205]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1211]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1211]}, "observation.state": {"min": [0.7881342026256997, -2.4025297906901835, 0.699997307867532, 0.0, 0.0, 0.9999961853027344, 0.00014775760064367205, 0.16554905648657203, -0.6965622706312184, 0.2273266600600865, -0.9994280934333801, -0.34386053681373596, -0.185847207903862, 0.0003254963085055351, 0.0029248337503744075, -0.040007797533843766], "max": [0.7892892728977545, -2.4001293446420107, 0.7028373367127809, 0.0, 0.0, 1.0, 0.002785929711535573, 0.4512883357465017, 0.5741749358769894, 0.5938494790966444, 0.9976710677146912, 0.33024144172668457, 0.17468899488449097, 0.1580272614955902, 0.04078600482065585, -0.005756296833661706], "mean": [0.7887438742233833, -2.400847794440469, 0.7017561304070062, 0.0, 0.0, 0.9999979875188145, 0.0018990144735135093, 0.2994659038401264, -0.0762722952654504, 0.31361489599696224, -0.6381076667350152, -0.08483518757584368, -0.042551461118965586, 0.05742059139765354, 0.030836618441541425, -0.030860072834722647], "std": [0.00030874950496052704, 0.0006937092608220667, 0.0008531764122037839, 0.0, 0.0, 9.710994416321186e-07, 0.0006903538063691453, 0.08361890133177814, 0.3993606770653606, 0.0738401815072663, 0.7276555883955741, 0.19720907875530996, 0.10139093305757386, 0.0431236265681702, 0.011026922725409047, 0.010981730561513432], "count": [1211]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5071428571428571, -0.8714285714285716, -0.4785714285714286, -0.10857142857142858, -0.14, -0.26857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 0.8428571428571429, 0.7571428571428572, 0.10857142857142858, 0.13142857142857142, 0.26857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.018042939719240293, 0.008045299044473285, -0.0246077621800165, 0.0001627934410758496, 5.6623805591602056e-05, 0.004319924501592541, -0.12138728323699421], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1471331175368129, 0.3441898857714555, 0.20093995176465804, 0.02377465287805864, 0.0278274645051469, 0.06068121222754544, 0.9926052223660359], "count": [1211]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012386457063257694], "std": [0.11060304939746857], "count": [1211]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008257638315441783], "std": [0.0287242396877392], "count": [1211]}, "timestamp": {"min": [0.0], "max": [60.5], "mean": [30.25], "std": [17.479273440277776], "count": [1211]}, "frame_index": {"min": [0], "max": [1210], "mean": [605.0], "std": [349.5854688055555], "count": [1211]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1211]}, "index": {"min": [55414], "max": [56624], "mean": [56019.0], "std": [349.5854688055555], "count": [1211]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1211]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.27549521239338165]], [[0.2820136681699381]], [[0.2771685691558212]]], "std": [[[0.17860126240125665]], [[0.17521002856147133]], [[0.17457270436969435]]], "count": [219]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.587152532139827]], [[0.5255002120410183]], [[0.5130568524911481]]], "std": [[[0.2840468196678595]], [[0.3170114278168662]], [[0.33164890084289644]]], "count": [219]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5795439824068362]], [[0.5196517347318226]], [[0.5066905621844467]]], "std": [[[0.2868123192432587]], [[0.3195979217427371]], [[0.3344965106707787]]], "count": [219]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1328]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1328]}, "observation.state": {"min": [0.749141571836963, -4.693409351965073, 0.6999968488093242, 0.0, 0.0, -1.0, 0.0, 0.1426987829158769, -0.6678949368838447, 0.2315380874207168, -0.9991508722305298, -0.2436799705028534, -0.26267144083976746, 0.00011424152762629092, 0.01123976453219084, -0.04000512282063988], "max": [0.8116393079647846, -4.204737823715799, 0.7013582791217793, 0.0, 0.0, 1.0, 0.0034693595953285694, 0.5007102902977759, 0.649675873041569, 0.6039409315038554, 0.9993413090705872, 0.29501965641975403, 0.27525466680526733, 0.20194882154464722, 0.04019035256223856, -0.011115475446058055], "mean": [0.7949931774793254, -4.344956145249687, 0.7004123210030355, 0.0, 0.0, -0.08584354288247695, 0.00028031859003649584, 0.29457891545097004, -0.021785616932509556, 0.3560204610048207, -0.23085397100412702, 0.016821789041902107, 0.03976328966908398, 0.05705532308593868, 0.031058737348302053, -0.030472796782273447], "std": [0.026864259109627586, 0.21827255064249323, 0.000408518052832556, 0.0, 0.0, 0.9963084599505463, 0.0005354412587912517, 0.08375650597358199, 0.371353604750053, 0.08243747566584081, 0.9548969757742338, 0.11918488772580557, 0.11267599992959909, 0.05345922418025604, 0.010515797634228616, 0.010998608632621504], "count": [1328]}, "action": {"min": [-0.1285714285714286, 0.0, -0.03428571428571429, 0.0, -1.0, -0.6857142857142858, -0.8714285714285716, -0.6, -0.16, -0.17142857142857143, -0.40571428571428575, -1.0], "max": [0.46428571428571436, 0.8928571428571429, 0.0, 0.0, 1.0, 0.4785714285714286, 1.0, 0.9714285714285714, 0.13714285714285715, 0.20857142857142857, 0.21142857142857144, 1.0], "mean": [0.005545395869191051, 0.014947289156626504, -0.0001183304647160069, 0.0, -0.911144578313253, 0.013021729776247846, -0.011418889845094675, -0.01172009466437178, 1.0757314974181042e-05, 0.003334767641996559, -0.002618330464716008, -0.10542168674698796], "std": [0.04725717699902135, 0.0893716470466068, 0.0016718833298600098, 0.0, 0.41208683236711263, 0.15107411595745437, 0.3613697307994075, 0.20558214381150494, 0.03039157014884259, 0.03750902592419565, 0.0564325322766503, 0.9944276082065471], "count": [1328]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012048192322254181], "std": [0.10910102725028992], "count": [1328]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007530120481927711], "std": [0.027430731325432202], "count": [1328]}, "timestamp": {"min": [0.0], "max": [66.35], "mean": [33.175000000000004], "std": [19.168023502698446], "count": [1328]}, "frame_index": {"min": [0], "max": [1327], "mean": [663.5], "std": [383.3604700539689], "count": [1328]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1328]}, "index": {"min": [56625], "max": [57952], "mean": [57288.5], "std": [383.3604700539689], "count": [1328]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1328]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5553208926168026]], [[0.5377139802909854]], [[0.49607721376553965]]], "std": [[[0.24899687127637354]], [[0.23747638810975627]], [[0.21677082116187563]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5883935988071477]], [[0.5290344458581785]], [[0.46436041062685957]]], "std": [[[0.2019393210782296]], [[0.2117023786516717]], [[0.2274190964387889]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.050980392156862744]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6148589950947049]], [[0.5588863882991979]], [[0.49611682439708626]]], "std": [[[0.17691422940367266]], [[0.19441567352636482]], [[0.2155287525191691]]], "count": [201]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1185]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1185]}, "observation.state": {"min": [2.7074755568051248, -2.4562805124625973, 0.6999965384427184, 0.0, 0.0, -0.7107151746749878, 0.7034799456596375, 0.23435331002223814, -0.5829375782157507, 0.22792260776868345, -0.9983764886856079, -0.788606584072113, -0.15151220560073853, 1.3671845408680383e-05, 0.008112292203536207, -0.04044986597495726], "max": [3.8354619237547083, -2.3539342656180704, 0.7022511750723194, 0.0, 0.0, -0.7070109248161316, 0.7072026133537292, 0.511392729314089, 0.5804255672655221, 0.5675117181715491, 0.9987263083457947, 0.788673996925354, 0.22228947281837463, 0.11369584500789642, 0.040179290709350904, -0.0001237036261936663], "mean": [3.082369428611434, -2.4300530963466707, 0.7010423517453394, 0.0, 0.0, -0.707862903850491, 0.7063491094464491, 0.3625612211983948, -0.17060150116478587, 0.35192266838879327, -0.5937254188935968, 0.01787833661972722, 0.028944717084974432, 0.02897405866300503, 0.030952251295780903, -0.03054176515816709], "std": [0.4523861462935863, 0.03227477907350344, 0.0009191276360921625, 0.0, 0.0, 0.0007205720840759473, 0.0007232488082080397, 0.07137146157637189, 0.29879749002288897, 0.08782851449778493, 0.7497509602492276, 0.2700508906494328, 0.09978017474716064, 0.021980362754641443, 0.011405612821993098, 0.01185797490068389], "count": [1185]}, "action": {"min": [-0.8285714285714285, -1.0, -0.06285714285714286, 0.0, -1.0, -1.0, -1.0, -1.0, -0.18857142857142858, -0.30857142857142855, -0.4028571428571428, -1.0], "max": [0.6285714285714287, 1.0, 0.014285714285714287, 0.0, 1.0, 1.0, 1.0, 1.0, 0.1142857142857143, 0.2742857142857143, 0.5171428571428571, 1.0], "mean": [0.00742616033755274, -0.010054249547920436, -0.00028450874020494274, 0.0, -0.8464135021097047, 0.01210367691380351, 0.03811934900542496, -0.022748643761301958, -0.0024641350210970452, 0.002442435201928873, 0.003742013261000607, -0.20675105485232068], "std": [0.08362460142215952, 0.1985773620699648, 0.0039002898182953255, 0.0, 0.5325262279422317, 0.20438061992306722, 0.4458316879295772, 0.26600919929447225, 0.03152460301439805, 0.05179196737864532, 0.09779483154566856, 0.9783935820095401], "count": [1185]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018565401434898376], "std": [0.13498416543006897], "count": [1185]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008438818565400844], "std": [0.029037384867654437], "count": [1185]}, "timestamp": {"min": [0.0], "max": [59.2], "mean": [29.6], "std": [17.103995634548866], "count": [1185]}, "frame_index": {"min": [0], "max": [1184], "mean": [592.0], "std": [342.0799126909773], "count": [1185]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1185]}, "index": {"min": [57953], "max": [59137], "mean": [58545.0], "std": [342.0799126909773], "count": [1185]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1185]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5393200255095865]], [[0.4941487695549102]], [[0.44969312226366615]]], "std": [[[0.2786442516380892]], [[0.25109748867110365]], [[0.23009650504811374]]], "count": [174]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6572803854109442]], [[0.5990039766116914]], [[0.5501739051445717]]], "std": [[[0.1741030149312391]], [[0.1967636118266411]], [[0.21069384507383637]]], "count": [174]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6232462819589267]], [[0.5604764734164589]], [[0.5121539164266529]]], "std": [[[0.19201549459775527]], [[0.21635083158494275]], [[0.23015048464345805]]], "count": [174]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [978]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [978]}, "observation.state": {"min": [2.972298528821074, -1.7655609826725274, 0.6999921452343013, 0.0, 0.0, -0.7238425016403198, 0.6899653077125549, 0.08607818645421594, -0.6207353250439018, 0.22401192906102962, -0.9990843534469604, -0.5093739032745361, -0.12581327557563782, 1.7816257241065614e-05, 0.0032257608622940975, -0.04000597869810647], "max": [3.505542097907471, -1.6646237515774882, 0.7060127650656439, 0.0, 0.0, -0.7070183157920837, 0.7071952223777771, 0.6396556501156034, 0.3741617131341215, 0.5851670312803208, 0.9969469904899597, 0.4500862956047058, 0.2506920397281647, 0.10163022577762604, 0.04037595315989706, -0.0028172921154180942], "mean": [3.2900961740497623, -1.7487776805927502, 0.703693911312495, 0.0, 0.0, -0.7149699431499333, 0.6991253606137079, 0.3411151785119358, -0.009181158882463897, 0.35026986731562826, -0.4730320544818184, -0.04296726618030686, 0.010883068309712142, 0.028398387265189333, 0.029567355962834156, -0.030696100599615056], "std": [0.24552039761051841, 0.020421014224182577, 0.0021545086078685635, 0.0, 0.0, 0.004526382347765817, 0.004605431979615206, 0.13676790978991918, 0.23504942050103986, 0.08531974815099982, 0.8522794482871743, 0.20118925340836244, 0.07962045286349242, 0.016516336200670684, 0.012265685793859718, 0.011977023243656784], "count": [978]}, "action": {"min": [-0.6071428571428572, -0.8357142857142857, -0.21142857142857144, 0.0, -1.0, -1.0, -0.8928571428571429, -1.0, -0.26, -0.23714285714285716, -0.3314285714285714, -1.0], "max": [0.5285714285714286, 0.9, 0.08285714285714285, 0.0, 1.0, 0.8714285714285716, 1.0, 0.9714285714285714, 0.12857142857142856, 0.18, 0.1742857142857143, 1.0], "mean": [0.009669880222027463, -0.0039950335962605854, -0.0016856558574349987, 0.0, -0.8323108384458078, 0.011167104878761292, 0.02982033304119197, -0.044127957931638845, -0.005261466549810109, 0.002857142857142855, 0.001349693251533747, -0.1390593047034765], "std": [0.08927843703970062, 0.16974030218324504, 0.015376575099981082, 0.0, 0.5543091810584048, 0.3174920904385003, 0.385153880150415, 0.28865263850372397, 0.03553127924358142, 0.05138375688889453, 0.06154526650278561, 0.9902840550949877], "count": [978]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.026584867388010025], "std": [0.16086673736572266], "count": [978]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010224948875255625], "std": [0.03196012189793003], "count": [978]}, "timestamp": {"min": [0.0], "max": [48.85], "mean": [24.425], "std": [14.11620670246319], "count": [978]}, "frame_index": {"min": [0], "max": [977], "mean": [488.5], "std": [282.3241340492638], "count": [978]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [978]}, "index": {"min": [59138], "max": [60115], "mean": [59626.5], "std": [282.3241340492638], "count": [978]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [978]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4778687695725929]], [[0.421188952332087]], [[0.3951665356749944]]], "std": [[[0.2116823356371944]], [[0.21215184175504995]], [[0.20600854839557864]]], "count": [220]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5626414370069317]], [[0.5119333427007611]], [[0.4303827189889184]]], "std": [[[0.1860913525619622]], [[0.17695416424171756]], [[0.19644444665584612]]], "count": [220]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5894659266072373]], [[0.5323069752303887]], [[0.4439794766839175]]], "std": [[[0.17607180114385232]], [[0.16708290797832676]], [[0.1919456283401261]]], "count": [220]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1331]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1331]}, "observation.state": {"min": [2.3075380966673893, -2.452491609242313, 0.6999956128475223, 0.0, 0.0, -0.7198156714439392, 0.6941652894020081, 0.14760738077554736, -0.6756953520248796, 0.2297378794588234, -0.9996556043624878, -0.5280853509902954, -0.19010519981384277, 8.1484584370628e-05, 0.011511026982528927, -0.04003311252571201], "max": [3.1202616084729535, -2.3762452177997937, 0.7018718657350098, 0.0, 0.0, -0.7061282992362976, 0.7080839276313782, 0.6267341138904428, 0.5094525962589498, 0.6050254223945202, 0.9999054074287415, 0.4741034209728241, 0.18832643330097198, 0.1546938270330429, 0.040526622114905396, -0.0010649575654041023], "mean": [2.967004589416815, -2.394263502268442, 0.7009785682399827, 0.0, 0.0, -0.7097871259224316, 0.7043976731357675, 0.35726841580679725, -0.07165357173296101, 0.3504196008755632, -0.5471433906694895, -0.0795574120499871, 0.02459327710117327, 0.04138069980026086, 0.03220728413980447, -0.031747844632364436], "std": [0.30093530090925363, 0.029493249444042496, 0.0007707561031058142, 0.0, 0.0, 0.0035907185792873695, 0.003640950921001689, 0.0992386519470925, 0.34854662736340797, 0.0957665453583449, 0.8033995141647702, 0.1959185603276487, 0.08422938523204833, 0.03252824863660905, 0.00980081336692938, 0.010589898346637865], "count": [1331]}, "action": {"min": [-0.5142857142857143, -0.7357142857142858, -0.16, 0.0, -1.0, -0.9642857142857144, -0.9214285714285714, -0.6857142857142858, -0.4257142857142857, -0.3485714285714286, -0.5285714285714286, -1.0], "max": [0.46428571428571436, 0.7928571428571428, 0.05428571428571429, 0.0, 1.0, 1.0, 1.0, 0.7785714285714286, 0.16857142857142857, 0.15714285714285714, 0.4, 1.0], "mean": [0.0104003434581947, 0.000482988086293878, -0.0006611570247933885, 0.0, -0.7791134485349361, -1.0733068584304879e-05, 0.026880970269400003, -0.03603091123752284, -0.0069528818289148865, -0.002893635290329504, 0.0033615970806053397, -0.1179564237415477], "std": [0.0784369498157789, 0.16191845689404621, 0.010457489967244498, 0.0, 0.6268829510458841, 0.23244296178800458, 0.3361369169087383, 0.219181172586228, 0.05719118196585153, 0.0449844323385741, 0.09072910192436147, 0.9930187722788172], "count": [1331]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012021036818623543], "std": [0.10897950083017349], "count": [1331]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007513148009015778], "std": [0.02739982348431325], "count": [1331]}, "timestamp": {"min": [0.0], "max": [66.5], "mean": [33.25], "std": [19.2113247851365], "count": [1331]}, "frame_index": {"min": [0], "max": [1330], "mean": [665.0], "std": [384.22649570273], "count": [1331]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1331]}, "index": {"min": [60116], "max": [61446], "mean": [60781.0], "std": [384.22649570273], "count": [1331]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1331]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6021996559318492]], [[0.57571996881757]], [[0.5452568800026615]]], "std": [[[0.28620812503424475]], [[0.2859164160184672]], [[0.270300818696921]]], "count": [278]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5412313804890142]], [[0.45460720678397537]], [[0.3901689576504008]]], "std": [[[0.2098505854641883]], [[0.2555565034232869]], [[0.2868425315029775]]], "count": [278]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5268991744506508]], [[0.4373614112788354]], [[0.3711090096500465]]], "std": [[[0.21245127900948796]], [[0.2569362303182615]], [[0.2886988977607403]]], "count": [278]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1821]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1821]}, "observation.state": {"min": [4.299856474842829, -2.595706591668296, 0.6999974011921749, 0.0, 0.0, -0.022592617198824883, 0.999744713306427, -0.13621920367823215, -0.42410210118244396, 0.221933091615246, -0.9941889047622681, -0.3667880594730377, -0.3911988437175751, 0.00010162004036828876, 0.0061823455173127435, -0.04173461469398869], "max": [4.432917610675187, -1.2307109301612296, 0.7092730051811934, 0.0, 0.0, 0.0015988250961527228, 1.0, 0.4833635815224415, 0.388342037345776, 0.6891782789712182, 0.9935698509216309, 0.30699649453163147, 0.3605507016181946, 0.13930344581604004, 0.040084616510123766, -0.004721171660602812], "mean": [4.396705711330115, -2.118394848546023, 0.7045947603731335, 0.0, 0.0, -0.002541471331757215, 0.9999728265337601, 0.2309945380583196, -0.01842127359883412, 0.4099064683940518, -0.2241305593341867, -0.04633990344619568, -0.0519645412403637, 0.03916244784816036, 0.028978780120698343, -0.03136276801131784], "std": [0.017758573557133502, 0.5889686830430473, 0.003094771199699696, 0.0, 0.0, 0.006924023861866977, 7.449133370763775e-05, 0.15629458241146688, 0.207711137701503, 0.1365640478905816, 0.9415510347183476, 0.14470180060018026, 0.18796662256467653, 0.02440663815601069, 0.012339514242330747, 0.011770393021136843], "count": [1821]}, "action": {"min": [-0.4285714285714286, -0.9, -0.07928571428571429, 0.0, -1.0, -0.825, -0.8035714285714287, -0.4714285714285715, -0.21642857142857144, -0.42428571428571427, -0.3, -1.0], "max": [0.6000000000000001, 1.0, 0.03428571428571429, 0.0, 1.0, 0.6857142857142857, 0.9803571428571428, 1.0, 0.27, 0.3107142857142858, 0.2528571428571429, 1.0], "mean": [-0.0032007531183807962, 0.004919785047462154, -0.000544834078606731, 0.0, -0.7913234486545854, 0.009808190162391164, 0.0070840197693574705, -0.01845630344394758, -0.0018345493057189924, -0.0005871969875264736, 0.0007307601788656157, -0.15211422295442065], "std": [0.0662552719654259, 0.19660674453107416, 0.005861529517470165, 0.0, 0.6113977425615856, 0.23805389322146453, 0.27822281908927754, 0.2713862400282708, 0.03746518756073252, 0.061135538216627705, 0.0494007025205654, 0.9883629207811229], "count": [1821]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014827017672359943], "std": [0.12086015939712524], "count": [1821]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005491488193300384], "std": [0.023427489300056607], "count": [1821]}, "timestamp": {"min": [0.0], "max": [91.0], "mean": [45.5], "std": [26.28386704171718], "count": [1821]}, "frame_index": {"min": [0], "max": [1820], "mean": [910.0], "std": [525.6773408343437], "count": [1821]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1821]}, "index": {"min": [61447], "max": [63267], "mean": [62357.0], "std": [525.6773408343437], "count": [1821]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1821]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49233924760083797]], [[0.4708079184666961]], [[0.45195455346427854]]], "std": [[[0.2794392926220983]], [[0.25844405078320065]], [[0.24117461229532428]]], "count": [211]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.0392156862745098]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5843489427923679]], [[0.5597529653523139]], [[0.5279757108777864]]], "std": [[[0.21554502660853117]], [[0.19668499803821224]], [[0.18956881514519294]]], "count": [211]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.03529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.581829953661152]], [[0.5582614104263225]], [[0.528054766180391]]], "std": [[[0.22009896826634234]], [[0.20008775740026188]], [[0.19181417664345443]]], "count": [211]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1263]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1263]}, "observation.state": {"min": [2.690198830103252, -1.737812696923984, 0.6999986664535671, 0.0, 0.0, -0.707236111164093, 0.7069774270057678, 0.11432129673778557, -0.7382343716300377, 0.22933124238411806, -0.9985392093658447, -0.49144577980041504, -0.34872499108314514, 6.54245595796965e-05, 0.010529998159125333, -0.04088081469382784], "max": [3.262059940648368, -1.6620713725658538, 0.7054273081523517, 0.0, 0.0, -0.7067543268203735, 0.7074589729309082, 0.6040842871367396, 0.5819431547196814, 0.5886944042843547, 0.9988697171211243, 0.4078593850135803, 0.41370511054992676, 0.2395104467868805, 0.041471675251921185, 0.0008205196296490765], "mean": [3.025076901273292, -1.703814090440826, 0.7030528642460409, 0.0, 0.0, -0.7070680205914489, 0.707145523288754, 0.32129410361078603, -0.01896759163843271, 0.36092567513435936, 0.25773326839045313, -0.0017785485347206406, 0.09602807280978981, 0.0843258819354549, 0.03108019813545266, -0.032945921315742095], "std": [0.2767145606051891, 0.03724426714190786, 0.0016602254118751598, 0.0, 0.0, 5.360900473432804e-05, 5.362561649536025e-05, 0.11091198278248199, 0.26186239137991263, 0.09108740635372513, 0.9107862640841361, 0.19100797070841702, 0.2178183288342336, 0.06146273693344719, 0.01010644509624623, 0.008688393739831091], "count": [1263]}, "action": {"min": [-0.42142857142857143, -0.45, 0.0, 0.0, -1.0, -0.6857142857142858, -0.9, -0.5642857142857142, -0.35428571428571426, -0.15428571428571428, -0.4228571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 0.807142857142857, 1.0, 1.0, 0.32571428571428573, 0.19142857142857142, 0.38, 1.0], "mean": [-0.010287297816989036, -0.02354937224295895, 0.0, 0.0, -0.8178939034045922, 0.015988010406062684, 0.004399954756249248, -0.028678882479357536, -0.0034294763035855663, -0.003933944123967877, -0.0017893903404592238, -0.14489311163895488], "std": [0.047063509578657264, 0.09554137985778773, 0.0, 0.0, 0.5753690665769258, 0.22417273722492229, 0.34768257424313415, 0.2534578926506944, 0.0610118926690434, 0.044488471556166524, 0.0684085275792336, 0.989447313503644], "count": [1263]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015835313126444817], "std": [0.12483812123537064], "count": [1263]}, "next.done": {"min": [false], "max": [true], "mean": [0.000791765637371338], "std": [0.028127188706780066], "count": [1263]}, "timestamp": {"min": [0.0], "max": [63.1], "mean": [31.55], "std": [18.22982903558524], "count": [1263]}, "frame_index": {"min": [0], "max": [1262], "mean": [631.0], "std": [364.5965807117048], "count": [1263]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1263]}, "index": {"min": [63268], "max": [64530], "mean": [63899.0], "std": [364.5965807117048], "count": [1263]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1263]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45070269074426644]], [[0.4369218957282536]], [[0.40858755127354013]]], "std": [[[0.2210777579425942]], [[0.21116622002758495]], [[0.19958003422519602]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6412200258605597]], [[0.6280875650452126]], [[0.6138893719192957]]], "std": [[[0.25440367304464645]], [[0.26553950241784813]], [[0.27609818610815373]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6458970125799511]], [[0.631952811600125]], [[0.6163315879035477]]], "std": [[[0.24768500484248646]], [[0.25984076322918415]], [[0.2721715376871466]]], "count": [203]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1194]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1194]}, "observation.state": {"min": [0.16021214588847657, -4.170586224119269, 0.6999957475250375, 0.0, 0.0, -1.0, 8.661111650098974e-08, 0.17697939212207225, -0.7284053152243453, 0.23373712084212284, -0.9949657320976257, -0.5558578372001648, -0.2462131530046463, 2.324364504602272e-05, 0.01307553955462484, -0.040440631654681446], "max": [0.16059237239240717, -4.170028709391768, 0.7004032143767235, 0.0, 0.0, 1.0, 0.0007200868567451835, 0.4527160377596273, 0.6590435588384018, 0.5937405047150165, 0.9981259107589722, 0.24605602025985718, 0.23163890838623047, 0.1660255491733551, 0.04049928623212136, -0.012585163444605507], "mean": [0.1603390129887882, -4.170408530473007, 0.7001483827379272, 0.0, 0.0, -0.4572864389499428, 0.0001847210360225437, 0.3289543146058443, -0.14789628232849633, 0.35217407521061705, 0.12975696517993857, -0.04372417963916433, 0.019211515272582195, 0.0718556831976911, 0.0289876238956523, -0.029331349583459433], "std": [6.720862923358422e-05, 9.777622089280265e-05, 0.0001206308717674372, 0.0, 0.0, 0.8893194584479911, 0.00011784852459532153, 0.06443792023430041, 0.3756462863605419, 0.07522776247652066, 0.963819132254807, 0.16609558163970015, 0.13071850347738867, 0.04578885926924467, 0.011163115102310514, 0.011012630972128725], "count": [1194]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8214285714285715, -1.0, -0.6785714285714286, -0.19142857142857142, -0.12857142857142856, -0.5, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5285714285714286, 1.0, 0.8571428571428572, 0.21142857142857144, 0.19428571428571428, 0.32285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.022236180904522604, -0.008106006221584092, -0.0012203876525484568, -0.0026657094998803546, 0.004383823881311324, -0.001170136396267043, -0.038525963149078725], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16656037052955097, 0.43764880756572966, 0.260978409099477, 0.03828803568998091, 0.028579693962067908, 0.08122959998731795, 0.9992575995024796], "count": [1194]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023450586944818497], "std": [0.1513296216726303], "count": [1194]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008375209380234506], "std": [0.028927832561424692], "count": [1194]}, "timestamp": {"min": [0.0], "max": [59.65], "mean": [29.825000000000003], "std": [17.233899491022534], "count": [1194]}, "frame_index": {"min": [0], "max": [1193], "mean": [596.5], "std": [344.67798982045065], "count": [1194]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1194]}, "index": {"min": [64531], "max": [65724], "mean": [65127.5], "std": [344.67798982045065], "count": [1194]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1194]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5432694027504149]], [[0.5280242294704632]], [[0.4969082148672775]]], "std": [[[0.23750898568458848]], [[0.2254586093340395]], [[0.20593446520958353]]], "count": [223]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6341079324172039]], [[0.54804683152996]], [[0.4598188516490537]]], "std": [[[0.17120675788087386]], [[0.19685528057581325]], [[0.2290131366404217]]], "count": [223]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6191841479017774]], [[0.5339222952211206]], [[0.44784792979998544]]], "std": [[[0.183763650077063]], [[0.20283736159232627]], [[0.23102236515026087]]], "count": [223]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1357]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1357]}, "observation.state": {"min": [0.78227829663455, -2.6367727060151522, 0.6999977157718063, 0.0, 0.0, -0.9999982118606567, 0.00011244288907619193, 0.10089708883016346, -0.5417875994611396, 0.22163280472838065, -0.996695876121521, -0.6452280282974243, -0.44601932168006897, 3.4730504694380215e-07, 0.0017437699985930286, -0.04066620671474417], "max": [0.8847172294051118, -2.214284368790093, 0.7078380382243592, 0.0, 0.0, 1.0, 0.01897086761891842, 0.6988595156154972, 0.47729951659471714, 0.6035392496235221, 0.9966796636581421, 0.6341202259063721, 0.5447579622268677, 0.18429607152938843, 0.042041085017869705, 0.0005292643344429859], "mean": [0.8126776953714311, -2.5006067014158018, 0.7043845546648416, 0.0, 0.0, -0.4030877519549916, 0.00275868173212973, 0.39677539149120755, 0.023059779203338602, 0.32483661315837575, -0.21000279054627669, -0.0666282497286006, -0.03278918152396391, 0.06028969375254015, 0.028325538620039285, -0.02860880998430068], "std": [0.022778087164022617, 0.19563483333711618, 0.002560474348856196, 0.0, 0.0, 0.9151533441921771, 0.0026519789015474115, 0.13936473730850124, 0.22792460071120121, 0.0792942502102078, 0.9140095377784675, 0.22983675841789725, 0.237825404565482, 0.04416140877388437, 0.01272424806493711, 0.012196893582972644], "count": [1357]}, "action": {"min": [-0.6285714285714287, 0.0, -0.06285714285714286, 0.0, -1.0, -0.7285714285714285, -0.7785714285714286, -0.6071428571428572, -0.2571428571428571, -0.18, -0.3657142857142857, -1.0], "max": [0.4928571428571429, 0.9571428571428572, 0.12857142857142856, 0.0, 1.0, 0.5857142857142857, 0.8428571428571429, 0.7571428571428572, 0.38285714285714284, 0.2571428571428571, 0.34285714285714286, 1.0], "mean": [-0.0002263396146962875, 0.013959364143594057, 0.00015580587430255846, 0.0, -0.8909358879882093, 0.017775555321612846, -0.020891672807663957, -0.019249394673123466, 0.005307927150226337, 0.005038425097378676, 0.0075081587535529935, -0.1260132645541636], "std": [0.05551815654356929, 0.08705593823112598, 0.010018845769694938, 0.0, 0.45412910443467874, 0.2546345325500341, 0.33255617396437287, 0.21130303863633532, 0.05946980996892101, 0.058060588530975996, 0.08671941346080568, 0.9920285566234449], "count": [1357]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016212232410907745], "std": [0.1262909173965454], "count": [1357]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007369196757553427], "std": [0.02713626033827851], "count": [1357]}, "timestamp": {"min": [0.0], "max": [67.8], "mean": [33.900000000000006], "std": [19.586602563997666], "count": [1357]}, "frame_index": {"min": [0], "max": [1356], "mean": [678.0], "std": [391.73205127995334], "count": [1357]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [1357]}, "index": {"min": [65725], "max": [67081], "mean": [66403.0], "std": [391.73205127995334], "count": [1357]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1357]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4741492226010277]], [[0.46778987061743643]], [[0.44017249890068333]]], "std": [[[0.31289761140666256]], [[0.3115263783741316]], [[0.2998730071152801]]], "count": [224]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5872553387275932]], [[0.5808433479287711]], [[0.5656210263570149]]], "std": [[[0.25043915525776217]], [[0.2506979147345991]], [[0.24471479299293797]]], "count": [224]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5697223823611476]], [[0.5634941413622945]], [[0.5483574960746017]]], "std": [[[0.256661566508036]], [[0.2565345060682937]], [[0.2504509864685284]]], "count": [224]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1366]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1366]}, "observation.state": {"min": [3.3248179486943212, -3.645573819542225, 0.6999936126807712, 0.0, 0.0, 0.7066797614097595, 0.7053510546684265, 0.2443883525080186, -0.6356711460694835, 0.22847455935270922, -0.9998125433921814, -0.7509872913360596, -0.19613824784755707, 4.499100396060385e-05, 0.008764132316080794, -0.040240715320502406], "max": [3.7810021367874405, -3.6142807128486134, 0.7018770147711353, 0.0, 0.0, 0.7088581323623657, 0.7075335383415222, 0.6052743624592369, 0.3257393971326845, 0.5927115129422911, 0.9998587369918823, 0.493205726146698, 0.21834297478199005, 0.17415976524353027, 0.04094169111602421, -0.003916376568791394], "mean": [3.556357854774888, -3.6320356518279437, 0.7005997755343444, 0.0, 0.0, 0.7077025021501376, 0.7065101116241159, 0.3922834572285283, -0.11009870983795572, 0.36655216400502216, 0.0053898349600690005, -0.18060903379074564, -0.001418809666753253, 0.048676626384448425, 0.030534739525291583, -0.03070954933617558], "std": [0.22588658656383384, 0.01249262405784362, 0.0004970876554654824, 0.0, 0.0, 0.0005603591451609575, 0.0005613471059330778, 0.10520784108432957, 0.2776210122731143, 0.09179535148681604, 0.9174837137032235, 0.3356605604902239, 0.09108818258911586, 0.047312411182105316, 0.01168644561110605, 0.012024130623865184], "count": [1366]}, "action": {"min": [-0.14285714285714288, 0.0, -0.017142857142857144, 0.0, -1.0, -0.7714285714285714, -0.8428571428571429, -0.5071428571428571, -0.2057142857142857, -0.18285714285714286, -0.48, -1.0], "max": [0.45, 0.6714285714285714, 0.0, 0.0, 1.0, 0.5357142857142857, 0.9071428571428573, 0.7785714285714286, 0.16857142857142857, 0.28285714285714286, 0.28, 1.0], "mean": [0.0029857770340932857, 0.013820330474796066, -1.4641288433382138e-05, 0.0, -0.9165446559297218, 0.01190127588370631, -0.007184689395523947, -0.017062330056473566, -0.0036728717841455747, -0.0007446140974691465, -0.003133235724743789, -0.10102489019033675], "std": [0.03948903338936447, 0.0832394769279099, 0.00046999890233655255, 0.0, 0.3999323613896101, 0.20313376311764242, 0.28746872662120254, 0.2179695026054784, 0.031009224663504736, 0.04005577886105716, 0.12563147917671993, 0.9948838985339072], "count": [1366]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021961933001875877], "std": [0.1465592235326767], "count": [1366]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007320644216691069], "std": [0.02704678360455515], "count": [1366]}, "timestamp": {"min": [0.0], "max": [68.25], "mean": [34.125], "std": [19.716506409605127], "count": [1366]}, "frame_index": {"min": [0], "max": [1365], "mean": [682.5], "std": [394.3301281921025], "count": [1366]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1366]}, "index": {"min": [67082], "max": [68447], "mean": [67764.5], "std": [394.3301281921025], "count": [1366]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1366]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5124892694216746]], [[0.49665428913555026]], [[0.4757472855198143]]], "std": [[[0.26817802129086443]], [[0.26504769745311435]], [[0.26316038005981524]]], "count": [227]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6480766568559125]], [[0.6200081672282934]], [[0.5883553702565398]]], "std": [[[0.2790936547552592]], [[0.2592262359143852]], [[0.2372847266600023]]], "count": [227]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6598283693725976]], [[0.6326561386004275]], [[0.6015947323301825]]], "std": [[[0.2745176633193172]], [[0.25641788854193825]], [[0.23703549211876848]]], "count": [227]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1386]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1386]}, "observation.state": {"min": [0.11523828465661964, -4.345167260113263, 0.6999988071965277, 0.0, 0.0, -1.0, 0.0, 0.1158857088046907, -0.6915829981672772, 0.22442098557918166, -0.9975678324699402, -0.36171022057533264, -0.4652438461780548, 8.101888670353219e-05, -0.0005778633378818815, -0.04138487606054579], "max": [0.2954035979745335, -3.8468091839953424, 0.7050067736082309, 0.0, 0.0, 1.0, 0.3016284108161926, 0.47067385342169876, 0.39741709508117307, 0.5969580265288006, 0.9974046349525452, 0.2995034456253052, 0.33613914251327515, 0.1056971624493599, 0.04116541514844892, -0.0003446585497052655], "mean": [0.15801729978678034, -4.110164378448521, 0.7025255351127907, 0.0, 0.0, 0.6017318755861313, 0.03577298709404319, 0.27824291700058423, -0.1973410364544926, 0.3714254029789413, 0.43005693947942053, -0.08800644905428694, 0.06462046136989576, 0.04974715807706132, 0.03145170537166266, -0.030702263419211433], "std": [0.03977405936129354, 0.22457246693157976, 0.002078812129894672, 0.0, 0.0, 0.7932925820184145, 0.08559181324779454, 0.09243228005424083, 0.29955216995273837, 0.10960889132872062, 0.8676617464586639, 0.15108080463255205, 0.1560640807089156, 0.02523880453969225, 0.010709089834817326, 0.01087203408407801], "count": [1386]}, "action": {"min": [-0.7142857142857143, -0.9785714285714284, -0.11714285714285716, 0.0, -1.0, -0.6571428571428571, -1.0, -0.6785714285714286, -0.2257142857142857, -0.3628571428571429, -0.24, -1.0], "max": [0.7642857142857143, 1.0, 0.5942857142857143, 0.0, 1.0, 0.9, 1.0, 0.8571428571428572, 0.1457142857142857, 0.16857142857142857, 0.24571428571428575, 1.0], "mean": [0.011925376211090499, 0.012420119562976702, 0.010972995258709544, 0.0, -0.7633477633477633, 0.011142032570604005, -0.005437023294166148, -0.006210059781488395, -0.00020408163265306156, -0.003401360544217686, -0.0020655534941249184, -0.14574314574314573], "std": [0.11230743993860336, 0.1812462472850429, 0.07021512097388494, 0.0, 0.6459877647385935, 0.2063542386189431, 0.3536872584425273, 0.27473073521546726, 0.02600648573982166, 0.052273669541067366, 0.05908997674734403, 0.9893224628344723], "count": [1386]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011544011533260345], "std": [0.10682110488414764], "count": [1386]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007215007215007215], "std": [0.02685107368820836], "count": [1386]}, "timestamp": {"min": [0.0], "max": [69.25], "mean": [34.625], "std": [20.005181620436908], "count": [1386]}, "frame_index": {"min": [0], "max": [1385], "mean": [692.5], "std": [400.1036324087381], "count": [1386]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1386]}, "index": {"min": [68448], "max": [69833], "mean": [69140.5], "std": [400.1036324087381], "count": [1386]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1386]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5648134398448603]], [[0.5242794937583833]], [[0.49185444883232476]]], "std": [[[0.24067857903574488]], [[0.2427256862599231]], [[0.23314571904812456]]], "count": [238]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5355146522792251]], [[0.4691863872875667]], [[0.429433080246115]]], "std": [[[0.23467360563383985]], [[0.2339274696059244]], [[0.2366904645434987]]], "count": [238]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5275357193443209]], [[0.45976983681799927]], [[0.4183113783268937]]], "std": [[[0.23255633935385916]], [[0.2274073032688085]], [[0.22943339397390014]]], "count": [238]}, "annotation.human.task_description": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1479]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1479]}, "observation.state": {"min": [2.4327419489002775, -0.984217488229137, 0.6999797164996395, 0.0, 0.0, 0.6317536234855652, 0.7071000337600708, -0.08674579656069442, -0.33535682336651806, 0.2362302921556242, -0.9918267726898193, -0.5609418749809265, -0.4525042176246643, 0.0001275541726499796, 0.011591769767025419, -0.04084951428234189], "max": [3.448804283514925, -0.7603654575786889, 0.702087823134989, 0.0, 0.0, 0.70711350440979, 0.7751691937446594, 0.5552234119965334, 0.5136922389159122, 0.7033757286908746, 0.9850876331329346, 0.5788637399673462, 0.4378907084465027, 0.28940320014953613, 0.0407331412413051, -0.01070415335653876], "mean": [2.9345340183916147, -0.8090650205334767, 0.7006395749577159, 0.0, 0.0, 0.6620693142306088, 0.7484552605559972, 0.22471131067187003, 0.11573245334945187, 0.44635986785034093, -0.3802030087323347, 0.01248356949807503, -0.0879580348206179, 0.06459927042513539, 0.03085570798119889, -0.030881615864663384], "std": [0.49262767010517877, 0.02880852453330365, 0.0005261105735450528, 0.0, 0.0, 0.028802247978632452, 0.02548282665455821, 0.1602283705319236, 0.20667498425909336, 0.1316868514346725, 0.8467318259100645, 0.23628603053843847, 0.26080215385226063, 0.05075935590377415, 0.011338089250658467, 0.011508798144715587], "count": [1479]}, "action": {"min": [-0.6589285714285714, -0.8410714285714286, -0.16928571428571426, 0.0, -1.0, -1.0, -0.9696428571428571, -0.6321428571428571, -0.2357142857142857, -0.24857142857142855, -0.34285714285714286, -1.0], "max": [0.5303571428571429, 1.0, 0.0, 0.0, 1.0, 0.5625000000000001, 1.0, 1.0, 0.15642857142857142, 0.15857142857142859, 0.3385714285714285, 1.0], "mean": [-3.6221385105769177e-06, 0.006579010914710716, -0.0036974789915966387, 0.0, -0.8526031102096011, 0.015425480537042412, 0.005867864387134128, 0.00320076306384623, -0.003972761518400466, 0.000938858301941471, 0.0026499565343378784, -0.1075050709939148], "std": [0.08894425426809992, 0.16560337383822718, 0.019277949193345644, 0.0, 0.5225590267720256, 0.3140617735620552, 0.30756985341480786, 0.32524207990364384, 0.05032682195855401, 0.05528348281381286, 0.08041243965786904, 0.9942045361547085], "count": [1479]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014198782853782177], "std": [0.11830966174602509], "count": [1479]}, "next.done": {"min": [false], "max": [true], "mean": [0.000676132521974307], "std": [0.025993756303909515], "count": [1479]}, "timestamp": {"min": [0.0], "max": [73.9], "mean": [36.95], "std": [21.347521323719686], "count": [1479]}, "frame_index": {"min": [0], "max": [1478], "mean": [739.0], "std": [426.9504264743937], "count": [1479]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1479]}, "index": {"min": [69834], "max": [71312], "mean": [70573.0], "std": [426.9504264743937], "count": [1479]}, "task_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1479]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5303459582150003]], [[0.49383597516669087]], [[0.4468667953171023]]], "std": [[[0.22141188719693441]], [[0.20600786136540106]], [[0.18749234056765332]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5924689083932642]], [[0.5713965852604234]], [[0.5170591944224407]]], "std": [[[0.1682200068167077]], [[0.15781714664693072]], [[0.15986680187529426]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.01568627450980392]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5959999619868763]], [[0.5787559378052808]], [[0.5215080694271438]]], "std": [[[0.1678597490838496]], [[0.1572612715272053]], [[0.1612650081363005]]], "count": [228]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1400]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1400]}, "observation.state": {"min": [3.26985363727014, -3.6506872689067675, 0.6999964721147018, 0.0, 0.0, 0.7011579871177673, 0.6992313861846924, 0.13469688970758043, -0.6564894780351724, 0.2321495541827383, -0.9968493580818176, -0.512758195400238, -0.2419600486755371, 0.00035872909938916564, 0.01082129438011876, -0.04011885716776865], "max": [3.9285575186692228, -3.634262320263562, 0.7013397151738805, 0.0, 0.0, 0.7148953676223755, 0.7130059003829956, 0.5935671000970006, 0.3072741545469295, 0.58985795865607, 0.9966683983802795, 0.3990606665611267, 0.3187943994998932, 0.14909714460372925, 0.04006334246446817, -0.01118403974044976], "mean": [3.6176386736263053, -3.6464931352532663, 0.7004563191848148, 0.0, 0.0, 0.7078898867113249, 0.7063193626914706, 0.34072292486484324, -0.1707098989157216, 0.3620662893465035, 0.04573895326682499, -0.020798546368522304, 0.03399050258233079, 0.0442523078035031, 0.030034162741217976, -0.03161084575146411], "std": [0.3205612266813278, 0.003299192744329361, 0.00034589419044861545, 0.0, 0.0, 0.0015594030414452496, 0.0015618229535282436, 0.10500485409092686, 0.2478172837211285, 0.10212778160289308, 0.9670243036517598, 0.19439437967948395, 0.1441174661573698, 0.02582099049696582, 0.011085532435812085, 0.011185728273484751], "count": [1400]}, "action": {"min": [-0.2142857142857143, -0.40714285714285714, -0.2, 0.0, -1.0, -1.0, -0.7928571428571428, -0.5714285714285715, -0.1657142857142857, -0.13428571428571429, -0.44, -1.0], "max": [0.4357142857142858, 0.9357142857142857, 0.045714285714285714, 0.0, 1.0, 0.5285714285714286, 0.7714285714285714, 0.6857142857142858, 0.13714285714285715, 0.2857142857142857, 0.36, 1.0], "mean": [0.0038418367346938773, 0.012510204081632665, -0.0008673469387755103, 0.0, -0.8857142857142857, 0.017234693877551038, -0.011464285714285694, -0.009540816326530588, -0.001742857142857144, 0.0025469387755102015, 0.0009346938775510125, -0.12142857142857143], "std": [0.038008934028911055, 0.11048882526355956, 0.012197113395267212, 0.0, 0.4642307659791879, 0.2085857005680549, 0.2527656473602055, 0.21917335869584076, 0.03077341816090893, 0.033068133316928996, 0.0846787160267484, 0.9926001722953849], "count": [1400]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018571428954601288], "std": [0.1350056678056717], "count": [1400]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007142857142857143], "std": [0.026716577441807207], "count": [1400]}, "timestamp": {"min": [0.0], "max": [69.95], "mean": [34.975], "std": [20.207254266723126], "count": [1400]}, "frame_index": {"min": [0], "max": [1399], "mean": [699.5], "std": [404.1450853344625], "count": [1400]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1400]}, "index": {"min": [71313], "max": [72712], "mean": [72012.5], "std": [404.1450853344625], "count": [1400]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1400]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47656108213445597]], [[0.46885322274144364]], [[0.46371085438549264]]], "std": [[[0.2562026693419569]], [[0.25285450327529774]], [[0.25233460117935397]]], "count": [236]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.050980392156862744]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.399667299574259]], [[0.4003342392358244]], [[0.3996534076866893]]], "std": [[[0.22635010421577179]], [[0.22274843726998902]], [[0.22131875554464323]]], "count": [236]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.050980392156862744]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4231145413146141]], [[0.42331608436003837]], [[0.4225004818004483]]], "std": [[[0.22742814521958227]], [[0.22373398201275427]], [[0.22239673937239907]]], "count": [236]}, "annotation.human.task_description": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1459]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1459]}, "observation.state": {"min": [0.8077100988896975, -1.244474219355703, 0.6999987139569093, 0.0, 0.0, -1.0, 0.0, 0.20768298061211865, -0.5045323667552823, 0.22581875798876483, -0.9998419284820557, -0.47797471284866333, -0.3100966811180115, 8.492212145938538e-06, 0.005030956204890457, -0.040142078985429], "max": [0.8099242496847467, -1.2402673449652633, 0.7049787923616365, 0.0, 0.0, 1.0, 0.0034454900305718184, 0.6441650697551904, 0.6573205985181674, 0.6231101962214073, 0.9998451471328735, 0.3351849615573883, 0.22592665255069733, 0.2032352089881897, 0.04001612672950442, -0.00551236536839334], "mean": [0.8086229897735504, -1.2417235230194006, 0.7019313001486498, 0.0, 0.0, -0.8231645119852036, 0.0015676347775331757, 0.3568763350320125, -0.013869278956011834, 0.3341465712665188, -0.5346091888063652, -0.053317545592080164, -0.01271340180587134, 0.04520210617165484, 0.024492502059017325, -0.024241668763462128], "std": [0.0006794377243156593, 0.001213541941036052, 0.0015710217266703356, 0.0, 0.0, 0.5677993530465107, 0.0012922548361923374, 0.10095135096090616, 0.3272707758140818, 0.08060351473483868, 0.8083278864629513, 0.2077313023578894, 0.10124115506058685, 0.04847015672968582, 0.014792253842691573, 0.015099329531134643], "count": [1459]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6142857142857143, -0.7285714285714285, -0.5142857142857143, -0.08857142857142856, -0.4371428571428572, -0.24, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 0.9571428571428572, 0.7214285714285715, 0.12285714285714287, 0.18, 0.2885714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.020542445902281437, 0.006320375991383565, -0.028507784196612214, -0.0005561539214726341, 0.0030373053950846973, 0.003671790854792911, -0.0006854009595613434], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17562571308738154, 0.3183228251626721, 0.20959276440028185, 0.022461911244236764, 0.05296053721140467, 0.06407180212430046, 0.9999997651127382], "count": [1459]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013708019629120827], "std": [0.11627601832151413], "count": [1459]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006854009595613434], "std": [0.026171189982229996], "count": [1459]}, "timestamp": {"min": [0.0], "max": [72.9], "mean": [36.449999999999996], "std": [21.058846122235664], "count": [1459]}, "frame_index": {"min": [0], "max": [1458], "mean": [729.0], "std": [421.1769224447132], "count": [1459]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1459]}, "index": {"min": [72713], "max": [74171], "mean": [73442.0], "std": [421.1769224447132], "count": [1459]}, "task_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1459]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5091792136185687]], [[0.5070658132322674]], [[0.5039693976443904]]], "std": [[[0.24366638198667628]], [[0.24281027352954956]], [[0.243097191263229]]], "count": [310]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.710155184683658]], [[0.6661253996818296]], [[0.6103146518656606]]], "std": [[[0.23574687557681911]], [[0.22444485327230138]], [[0.22658513948545403]]], "count": [310]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.06274509803921569]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7230258975912693]], [[0.6763284790116273]], [[0.6153512858922235]]], "std": [[[0.2128579743305463]], [[0.20514742754443022]], [[0.21585596310715002]]], "count": [310]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [2104]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [2104]}, "observation.state": {"min": [0.7700265542998981, -3.1160685622829876, 0.699999032624241, 0.0, 0.0, -1.0, 7.714591987451058e-08, 0.022485855102245544, -0.49646310718883857, 0.22243457591972493, -0.9985454678535461, -0.5430850982666016, -0.43673041462898254, 0.0003786412416957319, 0.006876375125482226, -0.040612138840906344], "max": [0.8783000881286742, -2.7030168712121037, 0.7152153422422823, 0.0, 0.0, 1.0, 0.033019982278347015, 0.45225033336943776, 0.567426344852044, 0.5952143529699219, 0.9882327914237976, 0.7048239707946777, 0.5053778290748596, 0.26908230781555176, 0.040807193433654625, -0.000688933258313895], "mean": [0.7848993144195697, -2.8007936692238724, 0.707841388469914, 0.0, 0.0, 0.6178675122530741, 0.00625349246200484, 0.26738198836615046, -0.03854336617255689, 0.36746283865700774, -0.05120591751296257, 0.04981851125553874, -0.01275922101214103, 0.07377945829001158, 0.030098817021340856, -0.030196056539271047], "std": [0.017815231543105617, 0.16854480143298683, 0.005712638086658725, 0.0, 0.0, 0.7862394037501984, 0.005318638367622582, 0.11732777836866745, 0.2837300858551572, 0.09550580906231222, 0.8915527096852465, 0.3740645691008505, 0.22322514783819916, 0.06833641054280329, 0.011653570353098655, 0.011656198282566085], "count": [2104]}, "action": {"min": [-0.5, -0.5857142857142857, -0.12571428571428572, 0.0, -1.0, -0.8142857142857143, -0.7642857142857143, -0.9071428571428573, -0.16142857142857142, -0.2842857142857143, -0.2842857142857143, -1.0], "max": [0.5178571428571429, 0.0, 0.1142857142857143, 0.0, 1.0, 0.5214285714285715, 0.8857142857142857, 0.7714285714285714, 0.2285714285714286, 0.24285714285714288, 0.30285714285714294, 1.0], "mean": [0.003714014122759368, -0.011026615969581752, -0.0007489136338946224, 0.0, -0.876425855513308, -0.006976507332971213, 0.024726711026615958, -0.04826011678435633, -0.0031443508962520406, -0.005914584464964691, -0.00405621944595329, -0.16920152091254753], "std": [0.055341296639688224, 0.06493855269314969, 0.013512865862813878, 0.0, 0.48153683118509916, 0.20294024209833622, 0.2637868440960128, 0.2194410256385498, 0.035702142934377366, 0.05667266185112547, 0.07405218131991748, 0.9855814757395233], "count": [2104]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01188212912529707], "std": [0.10835564136505127], "count": [2104]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004752851711026616], "std": [0.021795854539540117], "count": [2104]}, "timestamp": {"min": [0.0], "max": [105.15], "mean": [52.574999999999996], "std": [30.36862072929885], "count": [2104]}, "frame_index": {"min": [0], "max": [2103], "mean": [1051.5], "std": [607.372414585977], "count": [2104]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [2104]}, "index": {"min": [74172], "max": [76275], "mean": [75223.5], "std": [607.372414585977], "count": [2104]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [2104]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5537814784668277]], [[0.5219550164721571]], [[0.48816857392843727]]], "std": [[[0.2192360224158585]], [[0.2018185489842947]], [[0.18737120818424485]]], "count": [310]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6460301636051031]], [[0.48494898256208985]], [[0.4400050918608056]]], "std": [[[0.15187354033554584]], [[0.25924211249768947]], [[0.26011362758820905]]], "count": [310]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6417966931685098]], [[0.49046273855828243]], [[0.4488355644559046]]], "std": [[[0.1554591691794718]], [[0.25920292474009154]], [[0.26105487705507197]]], "count": [310]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [2101]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [2101]}, "observation.state": {"min": [4.283483459874523, -2.0709496355925037, 0.6999990387959419, 0.0, 0.0, -0.0025114265736192465, 0.9999969005584717, 0.11701404177997432, -0.5262178326872169, 0.2267421817781179, -0.9951913952827454, -0.4661034345626831, -0.44659194350242615, 0.00010090370051329955, 0.004614424703843873, -0.04092571432403447], "max": [4.418961711225192, -1.5644502508400948, 0.7075307222370902, 0.0, 0.0, 0.0010319086723029613, 1.0, 0.5030008495622988, 0.6121246909640655, 0.5948335330845055, 0.9912017583847046, 0.3337549865245819, 0.42463865876197815, 0.20271095633506775, 0.040728533925979124, -0.0021587524241574226], "mean": [4.403397917979916, -1.7276872019161333, 0.703865085046457, 0.0, 0.0, 9.413439880137768e-05, 0.9999998762515657, 0.2939865467992061, 0.03161853165095231, 0.3655135622269083, -0.2133731909560794, -0.11399600416180748, -0.03548646820039763, 0.0669273940505431, 0.02735157144115685, -0.025745680749231455], "std": [0.022814182377526564, 0.23478892435531318, 0.0019456374070781518, 0.0, 0.0, 0.0005445955792513812, 3.1840709354029155e-07, 0.09762518750803888, 0.2916760022141663, 0.10249904498786687, 0.9091047884055207, 0.24482659900816356, 0.21712580345482677, 0.04672293834189157, 0.01406022805849165, 0.012979996864389179], "count": [2101]}, "action": {"min": [-0.4785714285714286, -0.04642857142857143, -0.024285714285714285, 0.0, -1.0, -0.7357142857142858, -0.6571428571428571, -0.45, -0.15428571428571428, -0.2285714285714286, -0.29714285714285715, -1.0], "max": [0.6464285714285715, 0.6714285714285714, 0.0, 0.0, 1.0, 0.3821428571428572, 0.9928571428571428, 0.6964285714285715, 0.2571428571428571, 0.2442857142857143, 0.22428571428571428, 1.0], "mean": [0.001502685795879514, 0.009299993200516759, -0.00013258992316583941, 0.0, -0.9238457877201333, 0.0037584143605085946, -0.005123410620792803, -0.023063847147616775, 0.002851023322227508, -6.595498742095658e-05, -0.0024478139661385716, 0.10233222275107091], "std": [0.05521223415485737, 0.07162567684675021, 0.0014373502870692208, 0.0, 0.3827648893404101, 0.16376643746956382, 0.27818444190297636, 0.18966082997816108, 0.03654530499507646, 0.049155833366689286, 0.05464437875096366, 0.9947502783044586], "count": [2101]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009995240718126297], "std": [0.09947530925273895], "count": [2101]}, "next.done": {"min": [false], "max": [true], "mean": [0.00047596382674916705], "std": [0.021811402641389054], "count": [2101]}, "timestamp": {"min": [0.0], "max": [105.0], "mean": [52.5], "std": [30.325319454211854], "count": [2101]}, "frame_index": {"min": [0], "max": [2100], "mean": [1050.0], "std": [606.5063890842371], "count": [2101]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [2101]}, "index": {"min": [76276], "max": [78376], "mean": [77326.0], "std": [606.5063890842371], "count": [2101]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [2101]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4531923230322541]], [[0.43023258677700105]], [[0.41784540733439757]]], "std": [[[0.19883629072762352]], [[0.20343260607813793]], [[0.20643687102878372]]], "count": [247]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.03529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4489004163143227]], [[0.4778463975507096]], [[0.41783428272387524]]], "std": [[[0.17310703207291553]], [[0.16557911019817248]], [[0.18164139321528655]]], "count": [247]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44584404392034993]], [[0.47413671883721387]], [[0.41445941190696134]]], "std": [[[0.17524123716273926]], [[0.1672502616266185]], [[0.18365458559674175]]], "count": [247]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1552]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1552]}, "observation.state": {"min": [0.8162694516987374, -4.861864491089181, 0.6999971455428156, 0.0, 0.0, -1.0, 0.0, -0.07151869782499598, -0.5550538187408791, 0.23271276724001266, -0.9987220168113708, -0.3336375653743744, -0.3402469754219055, 3.74659794033505e-05, 0.012216786266921567, -0.04142458753864353], "max": [0.8977604616546176, -4.016316837068677, 0.7039765703211439, 0.0, 0.0, 1.0, 0.04717319831252098, 0.4674499857439429, 0.651947715188884, 0.660718184474962, 0.9981862902641296, 0.2054077684879303, 0.3710130751132965, 0.19154714047908783, 0.04081499288597993, -0.012000712341674604], "mean": [0.8398005719120745, -4.350347156065737, 0.7021257249591346, 0.0, 0.0, -0.63614937797496, 0.024784539842114896, 0.21918068083156914, -0.0006379099473236503, 0.4258457236138542, -0.41650232227192713, -0.07141161811317212, -0.03232090326013556, 0.053449022454332376, 0.03416505649203153, -0.033914059313251366], "std": [0.018227184062666726, 0.3638139540784765, 0.0015991834951380435, 0.0, 0.0, 0.770984321421466, 0.016819296523981772, 0.15689999339432278, 0.29645789086577046, 0.13118565902862064, 0.8696014653394816, 0.13990511904938216, 0.20030267022792603, 0.040291998244626155, 0.009942993583474525, 0.01010831881162138], "count": [1552]}, "action": {"min": [-0.4714285714285715, -0.9642857142857142, -0.09857142857142857, 0.0, -1.0, -1.0, -1.0, -0.46607142857142864, -0.16928571428571426, -0.46928571428571425, -0.4392857142857143, -1.0], "max": [0.7017857142857142, 0.7767857142857144, 0.10714285714285715, 0.0, 1.0, 0.7017857142857142, 1.0, 0.8571428571428572, 0.20785714285714288, 0.3407142857142857, 0.3385714285714285, 1.0], "mean": [0.006168308173784979, -0.003865979381443299, 0.0005495213549337262, 0.0, -0.8260309278350515, 0.007483431516936687, 0.0009906572164948657, -0.010075708762886557, 0.0008159977908689249, -0.0020158321060382866, -0.0011680780559646532, -0.28994845360824745], "std": [0.07546986906035513, 0.15106355004846056, 0.014516651197305766, 0.0, 0.5636247920913092, 0.2766422080737492, 0.3051286262024468, 0.2602749205600165, 0.0352970078641701, 0.0664174033854577, 0.07654242201762254, 0.957042263565299], "count": [1552]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01739690639078617], "std": [0.13074499368667603], "count": [1552]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006443298969072165], "std": [0.025375475087004145], "count": [1552]}, "timestamp": {"min": [0.0], "max": [77.55], "mean": [38.775], "std": [22.401185794506503], "count": [1552]}, "frame_index": {"min": [0], "max": [1551], "mean": [775.5], "std": [448.02371589013006], "count": [1552]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [1552]}, "index": {"min": [78377], "max": [79928], "mean": [79152.5], "std": [448.02371589013006], "count": [1552]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1552]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.517291972456175]], [[0.49766795556509696]], [[0.48393852038261215]]], "std": [[[0.2822588576396137]], [[0.2632757370847915]], [[0.2486619504536167]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5737447028705897]], [[0.5594824024914536]], [[0.5339469558053507]]], "std": [[[0.26429822567565864]], [[0.23152369638673218]], [[0.2057898188903271]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5754306461416698]], [[0.5622763036462916]], [[0.5380816623795786]]], "std": [[[0.2643635702008815]], [[0.23179149581959058]], [[0.2065745706954038]]], "count": [234]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1442]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1442]}, "observation.state": {"min": [2.051597424840571, -1.0922995686809132, 0.6999969398226312, 0.0, 0.0, 0.6954225301742554, 0.6795588731765747, 0.07260372223874811, -0.62668539975268, 0.2283547963153547, -0.9990629553794861, -0.49077796936035156, -0.31449562311172485, 6.807827594457194e-05, 0.011852772265142227, -0.04008735033581372], "max": [4.052739582560279, -0.7419831485535173, 0.7028690123560382, 0.0, 0.0, 0.7336209416389465, 0.7186011075973511, 0.3959489340079178, 0.1981750685595487, 0.5911771419223364, 0.9990492463111877, 0.4908897280693054, 0.3209969401359558, 0.1581231951713562, 0.040074771591767616, -0.013048719851946557], "mean": [2.9952227103712397, -0.8063447489376561, 0.701040886015834, 0.0, 0.0, 0.7071286327465232, 0.707018225062406, 0.23554208254112252, -0.16075154777076864, 0.38760749017647805, 0.45725923512084476, 0.0031439347190061655, 0.043520899149963835, 0.03494657163022675, 0.030904673257763752, -0.029485549416573224], "std": [0.4732915155048987, 0.08190334442263562, 0.0007053079427389774, 0.0, 0.0, 0.006825341182719646, 0.0069095595417240085, 0.0947757413308902, 0.20288772283590398, 0.0888194955302465, 0.861667482213876, 0.1621718978519777, 0.13489153956513902, 0.028678781709636177, 0.01019810435643535, 0.011113013575730564], "count": [1442]}, "action": {"min": [-0.8357142857142857, -1.0, -0.14857142857142858, 0.0, -1.0, -1.0, -1.0, -0.7571428571428572, -0.24, -0.26, -0.2542857142857143, -1.0], "max": [0.8285714285714285, 1.0, 0.11714285714285716, 0.0, 1.0, 1.0, 1.0, 1.0, 0.14285714285714285, 0.21142857142857144, 0.24, 1.0], "mean": [0.00976817911630672, -0.0023033485238755542, -0.00043193976619774143, 0.0, -0.5048543689320388, 0.004517535169407564, 0.007999801862492542, -0.018828016643550542, -0.002821478105805431, -0.002407370715276403, 0.0007786804042005143, -0.09986130374479889], "std": [0.18527034633452383, 0.3120316441039006, 0.018851366413541855, 0.0, 0.8632045332192253, 0.26811530397249267, 0.26193592320213455, 0.2726561939458967, 0.03095997506641347, 0.050049609717686835, 0.05318244712833056, 0.9950013668404557], "count": [1442]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011789181269705296], "std": [0.1079360693693161], "count": [1442]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006934812760055479], "std": [0.026324899994594045], "count": [1442]}, "timestamp": {"min": [0.0], "max": [72.05], "mean": [36.025], "std": [20.813472199515388], "count": [1442]}, "frame_index": {"min": [0], "max": [1441], "mean": [720.5], "std": [416.2694439903078], "count": [1442]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [1442]}, "index": {"min": [79929], "max": [81370], "mean": [80649.5], "std": [416.2694439903078], "count": [1442]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1442]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5962486026495402]], [[0.5595170516464524]], [[0.5262691292022101]]], "std": [[[0.2323483074990905]], [[0.21759901291739545]], [[0.1985283687042187]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6375265354298851]], [[0.5163931555957817]], [[0.4715151186955377]]], "std": [[[0.1678923830242488]], [[0.2464569627851067]], [[0.2443790392874578]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6367536768676725]], [[0.5279709169769219]], [[0.48638466317726686]]], "std": [[[0.17995777725378315]], [[0.2511835157833453]], [[0.25021610731232047]]], "count": [217]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1312]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1312]}, "observation.state": {"min": [0.7745973584892826, -3.5078935008898955, 0.6999968087778741, 0.0, 0.0, -1.0, 8.392584760485988e-08, 0.12064207516007164, -0.6244658837014008, 0.22315451175767997, -0.9972392320632935, -0.3958907723426819, -0.3636842966079712, 1.734360739646945e-05, 0.001256876022508833, -0.04130090476785089], "max": [0.974714603977839, -2.3867459286573087, 0.7074268793581571, 0.0, 0.0, 1.0, 0.026016132906079292, 0.6175673892456026, 0.47860734639916247, 0.5913028536552054, 0.9998070597648621, 0.5538796186447144, 0.3602588474750519, 0.12976911664009094, 0.040076727982323826, -0.011049329510939229], "mean": [0.7934433342432984, -3.1989324630654115, 0.7049625026225481, 0.0, 0.0, 0.1859736107289791, 0.004710936422733082, 0.29836148742791335, -0.10543691318647176, 0.3347045253715188, -0.10114465045129381, -0.06969468811492822, -0.033839068793473946, 0.03461290435312111, 0.03100762647025024, -0.03318517800535624], "std": [0.03251847397394141, 0.37398834475220727, 0.0029762548257212976, 0.0, 0.0, 0.982532874153282, 0.004563321069993562, 0.11596334623101129, 0.26731795644235523, 0.08254705029015036, 0.9521739182818273, 0.2118676303495328, 0.17352377613237863, 0.030589389714337323, 0.0108692608406612, 0.010530153702098989], "count": [1312]}, "action": {"min": [-1.0, -1.0, -0.15142857142857147, 0.0, -1.0, -0.807142857142857, -0.8785714285714286, -0.7642857142857143, -0.1657142857142857, -0.20285714285714287, -0.36, -1.0], "max": [0.6857142857142858, 1.0, 0.10571428571428572, 0.0, 1.0, 0.9, 1.0, 1.0, 0.12, 0.14857142857142858, 0.21142857142857144, 1.0], "mean": [0.021777003484320552, 0.014748475609756104, -0.0005988675958188159, 0.0, -0.7057926829268293, 0.019697299651567943, -0.005809015679442505, -0.0073660714285714544, -0.0007817944250871079, 0.0039503484320557464, -0.0036824912891986077, -0.14329268292682926], "std": [0.13999818867057023, 0.1842580492045195, 0.01671380903194403, 0.0, 0.7084184418314784, 0.2249217727186107, 0.33444030278330134, 0.25409367065723343, 0.01839009020331217, 0.04016717211737085, 0.0716676103681036, 0.9896803559835072], "count": [1312]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015243902802467346], "std": [0.1225215420126915], "count": [1312]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007621951219512195], "std": [0.027597358216816574], "count": [1312]}, "timestamp": {"min": [0.0], "max": [65.55], "mean": [32.775000000000006], "std": [18.93708332874944], "count": [1312]}, "frame_index": {"min": [0], "max": [1311], "mean": [655.5], "std": [378.7416665749888], "count": [1312]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [1312]}, "index": {"min": [81371], "max": [82682], "mean": [82026.5], "std": [378.7416665749888], "count": [1312]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1312]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.26359378366840447]], [[0.2403747235814061]], [[0.23839906011719067]]], "std": [[[0.20353045157571845]], [[0.1830817722198283]], [[0.1691034663967152]]], "count": [241]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37170220709401824]], [[0.35381636926441346]], [[0.3346405165857513]]], "std": [[[0.21099523859095382]], [[0.20706776002238314]], [[0.20393031126321565]]], "count": [241]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36408101638099966]], [[0.3478555222619066]], [[0.3286699477073068]]], "std": [[[0.2076249093195258]], [[0.20495636310079082]], [[0.20214264856203548]]], "count": [241]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1501]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1501]}, "observation.state": {"min": [0.7506068960233959, -4.757297371095966, 0.6999979297528373, 0.0, 0.0, -1.0, 1.5959993504566228e-07, 0.09713625041590679, -0.4771647517061206, 0.2272641572321451, -0.9993172883987427, -0.5743662118911743, -0.14680781960487366, 3.2740295864641666e-05, 0.010649991070717612, -0.04040039667820922], "max": [0.7943793697409476, -4.192283654782393, 0.7041584906444526, 0.0, 0.0, 1.0, 0.0052946023643016815, 0.5285356109937183, 0.46960498091648706, 0.5994766056626172, 0.9984474778175354, 0.5278317332267761, 0.14870981872081757, 0.10091835260391235, 0.0407094812645097, -0.013101322033108051], "mean": [0.7643795026060969, -4.6116769860414255, 0.7023622113402784, 0.0, 0.0, 0.8054543392885375, 0.0038697976093304445, 0.28142065248070414, 0.024849691441159595, 0.3583134988252174, -0.5522457774601961, -0.10850166065306921, -0.007172130310519702, 0.03322504196191677, 0.035116810564258145, -0.03403759089936609], "std": [0.01816224818974923, 0.24260267558422988, 0.0011953734987333342, 0.0, 0.0, 0.5926431782204133, 0.0015649403483014987, 0.10135632678556661, 0.26821796035134077, 0.10258110310416015, 0.7781376477949805, 0.26755522954207595, 0.06604267264014504, 0.02551487243585037, 0.008833396373493861, 0.009190991036267526], "count": [1501]}, "action": {"min": [-0.17142857142857146, 0.0, 0.0, 0.0, -1.0, -0.7428571428571429, -1.0, -0.5642857142857142, -0.17714285714285713, -0.2542857142857143, -0.36857142857142855, -1.0], "max": [0.3857142857142857, 0.8714285714285716, 0.014285714285714287, 0.0, 1.0, 0.5, 0.9071428571428573, 0.8357142857142857, 0.19428571428571428, 0.21142857142857144, 0.27714285714285714, 1.0], "mean": [0.003040829922908537, 0.02050537736746931, 6.28152660131341e-05, 0.0, -0.8854097268487675, 0.0042257542590653915, -0.003078899781098309, -0.024240982202341343, -0.0005596269153897399, 0.007113353002760071, -0.0007252307985152957, -0.26449033977348435], "std": [0.032480391692656436, 0.09758482777627835, 0.0007530618269454375, 0.0, 0.46481137636850767, 0.17613235313719808, 0.34312175084538304, 0.2254609775990123, 0.02758183584246896, 0.03726667722725114, 0.08828258734199296, 0.9643883347316661], "count": [1501]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0139906732365489], "std": [0.11745182424783707], "count": [1501]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006662225183211193], "std": [0.025802687183260602], "count": [1501]}, "timestamp": {"min": [0.0], "max": [75.0], "mean": [37.5], "std": [21.665064043293295], "count": [1501]}, "frame_index": {"min": [0], "max": [1500], "mean": [750.0], "std": [433.3012808658659], "count": [1501]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [1501]}, "index": {"min": [82683], "max": [84183], "mean": [83433.0], "std": [433.3012808658659], "count": [1501]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1501]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.5183868188612709]], [[0.484664535453839]], [[0.4493836420906343]]], "std": [[[0.2651619753004996]], [[0.24699989132927808]], [[0.23045234445230622]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6477230612076665]], [[0.5406364908920044]], [[0.4941451054679595]]], "std": [[[0.16228455983972614]], [[0.236915211386669]], [[0.23593161540431914]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6442685515144184]], [[0.5548157553510671]], [[0.5117924640324073]]], "std": [[[0.17616525832175492]], [[0.23935324411347542]], [[0.23878451777131585]]], "count": [218]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1316]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1316]}, "observation.state": {"min": [0.10392651961049366, -4.642170521700802, 0.6999964636205593, 0.0, 0.0, -1.0, 9.241369269830102e-08, 0.22430609551560107, -0.6784795893469902, 0.22815695883606113, -0.9995437264442444, -0.5207744836807251, -0.13286930322647095, 0.0001501000951975584, 0.0017671273917028016, -0.04037426464182706], "max": [0.15525546331767562, -4.194082703016548, 0.703038280574507, 0.0, 0.0, 1.0, 0.003120061941444874, 0.4558420145422169, 0.3683566944386536, 0.5789346047244205, 0.9983364939689636, 0.51573646068573, 0.14974737167358398, 0.15845173597335815, 0.040566405216663694, -0.00896255509766772], "mean": [0.1303393190913802, -4.41796677973673, 0.7017670712227105, 0.0, 0.0, -0.9012142386298774, 0.0015008887189847154, 0.33315432122902033, -0.14860653416179592, 0.33751717360834477, -0.17156945336553464, 0.007382818608117321, 0.009115172312552046, 0.04093947917775905, 0.028659763437617253, -0.028822788934603466], "std": [0.02369360900254239, 0.22120457563318138, 0.0010059549372861147, 0.0, 0.0, 0.43337023711034883, 0.0009631901980034394, 0.06402279683338752, 0.2922756105433085, 0.0842643549869081, 0.955156022670007, 0.22496393041839713, 0.0665644476952202, 0.037251422731399586, 0.012388702939195318, 0.011995438337680039], "count": [1316]}, "action": {"min": [-0.17142857142857146, 0.0, 0.0, 0.0, -1.0, -0.6571428571428571, -0.807142857142857, -0.5642857142857142, -0.15142857142857147, -0.18857142857142858, -0.35428571428571426, -1.0], "max": [0.3785714285714286, 0.6928571428571428, 0.0, 0.0, 1.0, 0.3857142857142857, 0.75, 0.7714285714285714, 0.17714285714285713, 0.17142857142857143, 0.18, 1.0], "mean": [0.003191489361702128, 0.01443768996960486, 0.0, 0.0, -0.9103343465045592, 0.010410334346504567, -0.013243595310464597, -0.024299826313504126, -0.0020625271385149788, 0.003786365610073812, -0.002822405557967862, -0.06990881458966565], "std": [0.04007336014652851, 0.08492713817770857, 0.0, 0.0, 0.41387362512500353, 0.1562733286376462, 0.2746716738289925, 0.19595622310596367, 0.022823766573806737, 0.03547674389732025, 0.07191988239509181, 0.9975533858609655], "count": [1316]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012158054858446121], "std": [0.10959123075008392], "count": [1316]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007598784194528875], "std": [0.027555416967277726], "count": [1316]}, "timestamp": {"min": [0.0], "max": [65.75], "mean": [32.875], "std": [18.99481837238777], "count": [1316]}, "frame_index": {"min": [0], "max": [1315], "mean": [657.5], "std": [379.89636744775544], "count": [1316]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [1316]}, "index": {"min": [84184], "max": [85499], "mean": [84841.5], "std": [379.89636744775544], "count": [1316]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1316]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4927260418612812]], [[0.4484445637260271]], [[0.3997291482453908]]], "std": [[[0.252139897562071]], [[0.23068028852364603]], [[0.21199226446842523]]], "count": [214]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4782832644285901]], [[0.49519204504437037]], [[0.4762847936741048]]], "std": [[[0.2110865953654949]], [[0.19084290222734218]], [[0.19686705645120578]]], "count": [214]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45568067100822696]], [[0.4719533217396735]], [[0.45610621618180347]]], "std": [[[0.21267394057111957]], [[0.20255349910901443]], [[0.21203525078218385]]], "count": [214]}, "annotation.human.task_description": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1287]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1287]}, "observation.state": {"min": [4.418336151110645, -2.097554766275525, 0.6999962572068107, 0.0, 0.0, -0.01733267493546009, 0.999849796295166, 0.17011654429088008, -0.5519154507517328, 0.22870678854700122, -0.9995912909507751, -0.5647725462913513, -0.17027010023593903, 0.0001794187119230628, 0.010044798889516773, -0.04028390962135422], "max": [4.424245938135764, -1.560212072825282, 0.7008846457881547, 0.0, 0.0, 0.004132485948503017, 1.0, 0.5319002878765202, 0.4624820183005178, 0.5871187061247506, 0.9995660781860352, 0.6622278094291687, 0.14981672167778015, 0.07068879902362823, 0.04049949296056986, -0.007779809937428726], "mean": [4.422288141546981, -1.7235548787580628, 0.7005570144681424, 0.0, 0.0, 0.0007944630298488429, 0.9999965595106052, 0.3081043550326211, -0.10553016395795792, 0.362175633930954, 0.3469016789093255, 0.04379020741451083, -0.013440876560562117, 0.023644682413585617, 0.02887901401711623, -0.028730095185668027], "std": [0.0024300278382181407, 0.23032794030158643, 0.0002749150605498895, 0.0, 0.0, 0.002510287198527824, 1.7727369101217474e-05, 0.0825685216493691, 0.2612177502557308, 0.08744300430279793, 0.9058066792719649, 0.22658218795892368, 0.07040119171757228, 0.01484462537293596, 0.012376669702980913, 0.012405005147152566], "count": [1287]}, "action": {"min": [-0.1, -0.39285714285714285, -0.12, 0.0, -1.0, -0.5142857142857143, -0.8571428571428572, -0.6714285714285714, -0.16, -0.16857142857142857, -0.32857142857142857, -1.0], "max": [0.41428571428571426, 1.0, 0.15428571428571428, 0.0, 1.0, 0.6714285714285714, 0.8714285714285716, 0.8285714285714285, 0.09142857142857143, 0.16, 0.2857142857142857, 1.0], "mean": [0.004906204906204907, 0.014474414474414476, -8.880008880008834e-06, 0.0, -0.8881118881118881, 0.012781662781662779, -0.014624264624264595, -0.013092463092463093, 0.0014252414252414244, 0.004817404817404822, -0.0011433011433011411, -0.07847707847707848], "std": [0.03399911203462715, 0.1045477145049729, 0.012509131198375573, 0.0, 0.45962732098334746, 0.18426132451532737, 0.34963243676883077, 0.24439007130190277, 0.01704894323094058, 0.03886821362611066, 0.0800683516246372, 0.9969159182968624], "count": [1287]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01243201270699501], "std": [0.11080367863178253], "count": [1287]}, "next.done": {"min": [false], "max": [true], "mean": [0.000777000777000777], "std": [0.0278639022176241], "count": [1287]}, "timestamp": {"min": [0.0], "max": [64.3], "mean": [32.150000000000006], "std": [18.576239303655264], "count": [1287]}, "frame_index": {"min": [0], "max": [1286], "mean": [643.0], "std": [371.5247860731053], "count": [1287]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [1287]}, "index": {"min": [85500], "max": [86786], "mean": [86143.0], "std": [371.5247860731053], "count": [1287]}, "task_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1287]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5086969749269314]], [[0.486656723273994]], [[0.45234394725486465]]], "std": [[[0.2786452076502552]], [[0.2830170327672271]], [[0.2717998712252892]]], "count": [226]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5823280780612854]], [[0.5584961819189529]], [[0.5237347816150882]]], "std": [[[0.25247106590861174]], [[0.22569095261137517]], [[0.20422431903615013]]], "count": [226]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5972500005613158]], [[0.5744323007642199]], [[0.5395972190167203]]], "std": [[[0.24929968129429703]], [[0.22403865882451252]], [[0.20494273992139422]]], "count": [226]}, "annotation.human.task_description": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1380]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1380]}, "observation.state": {"min": [0.1287153124406221, -4.2792435073390145, 0.6999975019323996, 0.0, 0.0, -1.0, 8.587653610447887e-08, 0.05416987607290734, -0.7448086471704967, 0.23027356096127138, -0.9995507001876831, -0.39306917786598206, -0.13090179860591888, 7.731620280537754e-05, 0.009315272685775311, -0.04059579050051946], "max": [0.14304744659085236, -3.9860384720715185, 0.7014228809755813, 0.0, 0.0, 1.0, 0.002096473937854171, 0.46198033983953146, 0.5159802784094714, 0.5948389551501615, 0.9996538162231445, 0.3926115036010742, 0.12437254190444946, 0.11674824357032776, 0.040005294016659164, 0.0010295711992252391], "mean": [0.1354872650221978, -4.130843883378322, 0.7011163356789551, 0.0, 0.0, -0.21594139328901318, 0.0012843953475561339, 0.24609671101787517, -0.20312444965807747, 0.3583489060098033, 0.3459162292273148, -0.012279973893115918, 0.02194579687158588, 0.03433983624800812, 0.031559812786726954, -0.030296449035266525], "std": [0.005667604800051108, 0.1451913019502325, 0.00044921476512259633, 0.0, 0.0, 0.9764052898302441, 0.0006496025015728737, 0.08736869867327929, 0.371985294577399, 0.08799792535077401, 0.9163150911077433, 0.18159917005355003, 0.07179380270077054, 0.0276472806390959, 0.011246593811527166, 0.01170031533397946], "count": [1380]}, "action": {"min": [-0.25, -0.7428571428571429, 0.0, 0.0, -1.0, -1.0, -0.9214285714285714, -0.5928571428571429, -0.2057142857142857, -0.18285714285714286, -0.38285714285714284, -1.0], "max": [0.3357142857142857, 0.0, 0.0, 0.0, 1.0, 0.8714285714285716, 1.0, 0.8285714285714285, 0.09142857142857143, 0.18285714285714286, 0.2257142857142857, 1.0], "mean": [0.002805383022774327, -0.0112111801242236, 0.0, 0.0, -0.927536231884058, 0.01325051759834371, -2.0703933747419383e-05, -0.012489648033126296, -0.0009296066252587984, 0.002196687370600411, 0.0013436853002070403, -0.18405797101449275], "std": [0.03538833010652289, 0.07141674895409143, 0.0, 0.0, 0.3737332451660163, 0.2441449092415121, 0.4381620983335601, 0.21602449716190864, 0.02373980421493671, 0.032453389336307197, 0.06208674232250784, 0.9829153896984387], "count": [1380]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013768116012215614], "std": [0.11652705818414688], "count": [1380]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007246376811594203], "std": [0.026909340040039337], "count": [1380]}, "timestamp": {"min": [0.0], "max": [68.95], "mean": [34.475], "std": [19.918579057419397], "count": [1380]}, "frame_index": {"min": [0], "max": [1379], "mean": [689.5], "std": [398.371581148388], "count": [1380]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [1380]}, "index": {"min": [86787], "max": [88166], "mean": [87476.5], "std": [398.371581148388], "count": [1380]}, "task_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1380]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.529096121299828]], [[0.518485399713886]], [[0.4999301374145126]]], "std": [[[0.19901963876748738]], [[0.19615424030778603]], [[0.20138030669556659]]], "count": [307]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4708381319042975]], [[0.45962465335835956]], [[0.4427613795774379]]], "std": [[[0.27036974960310534]], [[0.2690037594112575]], [[0.27354675912738813]]], "count": [307]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.471451231354748]], [[0.46131699389026276]], [[0.44571117043700753]]], "std": [[[0.2660300369854906]], [[0.26521939786394655]], [[0.2690839243437788]]], "count": [307]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [2072]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [2072]}, "observation.state": {"min": [2.8659097796114104, -3.7756673024419087, 0.699997618885104, 0.0, 0.0, 0.6955178380012512, 0.7061338424682617, 0.12760689503414424, -0.3170922389940052, 0.23078035714120604, -0.9997919201850891, -0.40100497007369995, -0.21332040429115295, 7.615010690642521e-05, 0.011330544432806504, -0.040069109050231644], "max": [4.456088534946033, -3.6342871827803815, 0.701974453416342, 0.0, 0.0, 0.7080784440040588, 0.7185088396072388, 0.6089341396032828, 0.6267866712958581, 0.6054750400001065, 0.999130129814148, 0.22022444009780884, 0.13807062804698944, 0.13132070004940033, 0.040865286955097675, -0.01121473939500942], "mean": [3.6060129239235024, -3.6579506647945457, 0.7011335003939079, 0.0, 0.0, 0.7064237405319471, 0.7077800366293969, 0.3223860838570791, 0.14817414710992688, 0.400514407968439, -0.7014968144387352, 0.022474684018972527, -0.03410060718868761, 0.04400041639594582, 0.03139137978205579, -0.03128645679026362], "std": [0.413109558871526, 0.02505929357486506, 0.0007190545783781253, 0.0, 0.0, 0.00255684427104111, 0.0025221634110522448, 0.11766670549855807, 0.24448980674409043, 0.09798779083168976, 0.6901654433615103, 0.15006562767233686, 0.06752268056018555, 0.029847533270642927, 0.011036202589829302, 0.011190695806566136], "count": [2072]}, "action": {"min": [-0.4857142857142857, -0.9357142857142857, -0.07142857142857142, 0.0, -1.0, -0.8214285714285715, -0.6857142857142858, -0.4785714285714286, -0.12857142857142856, -0.12, -0.19714285714285715, -1.0], "max": [0.5357142857142857, 0.8714285714285716, 0.0, 0.0, 1.0, 0.6928571428571428, 0.8285714285714285, 0.7000000000000001, 0.1457142857142857, 0.1657142857142857, 0.13714285714285715, 1.0], "mean": [-0.003692084942084946, -0.0015306122448979537, -0.0004495311638168781, 0.0, -0.7538610038610039, 0.012024269167126326, -0.0004653888582460275, -0.007067015995587435, 0.0005722559293987862, 0.003422504136789853, 0.0002082184225041387, -0.14285714285714285], "std": [0.06884807293161939, 0.19337997155812794, 0.004628976447779309, 0.0, 0.6570339312833635, 0.1998495112902666, 0.17726703714510095, 0.188951208140694, 0.016560226902636473, 0.029666472006768124, 0.028239801532189496, 0.9897433186107848], "count": [2072]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012548262253403664], "std": [0.11131399124860764], "count": [2072]}, "next.done": {"min": [false], "max": [true], "mean": [0.00048262548262548264], "std": [0.021963436781819987], "count": [2072]}, "timestamp": {"min": [0.0], "max": [103.55], "mean": [51.775], "std": [29.90674046097301], "count": [2072]}, "frame_index": {"min": [0], "max": [2071], "mean": [1035.5], "std": [598.1348092194602], "count": [2072]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [2072]}, "index": {"min": [88167], "max": [90238], "mean": [89202.5], "std": [598.1348092194602], "count": [2072]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [2072]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5535478208147742]], [[0.5415394972028775]], [[0.5346637659470839]]], "std": [[[0.28703971118112054]], [[0.2986742395651863]], [[0.3095393066393011]]], "count": [195]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6534058442650398]], [[0.6130964144346641]], [[0.5719130041276828]]], "std": [[[0.2290371603083091]], [[0.221146269483824]], [[0.21510866313380472]]], "count": [195]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6581786510991116]], [[0.6166583561885292]], [[0.5742266483604159]]], "std": [[[0.2324533118504389]], [[0.2248320543329919]], [[0.21890019385055312]]], "count": [195]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1134]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1134]}, "observation.state": {"min": [0.10233715428196835, -4.8446067855856, 0.6999953162246868, 0.0, 0.0, -1.0, 5.20203649045925e-08, 0.058847472059580665, -0.5948748110328692, 0.2278614529802453, -0.9999071955680847, -0.2529081404209137, -0.2663021385669708, 5.337018592399545e-05, 0.004611854183241177, -0.04006593929408382], "max": [0.4325289016813888, -3.9618076833730758, 0.701693692245685, 0.0, 0.0, 1.0, 0.02274297922849655, 0.4965366977419711, 0.49581840472770455, 0.6126695760852134, 0.998286783695221, 0.5134226679801941, 0.24814529716968536, 0.09542588144540787, 0.04076948502576973, -0.006948267501272276], "mean": [0.1580126588396281, -4.30186121159364, 0.7006295260295783, 0.0, 0.0, -0.20103819413370136, 0.0031600449259678765, 0.28598146292582627, -0.0956424291626103, 0.3588432906740016, 0.1887868924536192, 0.037519398002476285, 0.019004550476931698, 0.033607052214570804, 0.033048952948502665, -0.032842867117707904], "std": [0.04322890906940368, 0.27031416780047707, 0.0003929795883640834, 0.0, 0.0, 0.9795629315767422, 0.005492696517111324, 0.1015728860013307, 0.3253458778917107, 0.09747509368088168, 0.959737394292767, 0.16346046530974395, 0.11451815400815372, 0.023056439412131115, 0.010107230285355772, 0.010153594052868408], "count": [1134]}, "action": {"min": [-1.0, -0.9285714285714287, -0.07714285714285714, 0.0, -1.0, -1.0, -1.0, -0.7071428571428572, -0.09714285714285714, -0.1657142857142857, -0.26, -1.0], "max": [0.8428571428571429, 1.0, 0.15428571428571428, 0.0, 1.0, 0.7000000000000001, 1.0, 1.0, 0.08, 0.29714285714285715, 0.34285714285714286, 1.0], "mean": [0.008830939783320734, 0.009870244394053918, 0.0005064247921390783, 0.0, -0.8430335097001763, 0.02317964222726128, -0.01765558075081885, -0.008994708994709019, 0.001040564373897707, 0.00418493323255228, 0.0005139833711262305, -0.2927689594356261], "std": [0.13008139244934772, 0.18998136616903524, 0.013027309011750329, 0.0, 0.5378610429493889, 0.25809674495392104, 0.4465885375785669, 0.2868200900152584, 0.017870382880967414, 0.04553869093489492, 0.0738021990166105, 0.9561832127741005], "count": [1134]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020282186567783356], "std": [0.14096388220787048], "count": [1134]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008818342151675485], "std": [0.029682597318706937], "count": [1134]}, "timestamp": {"min": [0.0], "max": [56.65], "mean": [28.325], "std": [16.367873767434386], "count": [1134]}, "frame_index": {"min": [0], "max": [1133], "mean": [566.5], "std": [327.3574753486877], "count": [1134]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [1134]}, "index": {"min": [90239], "max": [91372], "mean": [90805.5], "std": [327.3574753486877], "count": [1134]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1134]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4687413443341601]], [[0.4567841781528887]], [[0.4570254717303526]]], "std": [[[0.3325495173139087]], [[0.33767208123772297]], [[0.34073280231548003]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.682721706268342]], [[0.6459768171996669]], [[0.6159005806877551]]], "std": [[[0.2661282497120512]], [[0.24512283537817306]], [[0.23354726988289654]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7061048183267588]], [[0.6690201726144537]], [[0.6379728735807365]]], "std": [[[0.24033554486274553]], [[0.2209271540621955]], [[0.21177701533876817]]], "count": [209]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1248]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1248]}, "observation.state": {"min": [4.685748164933216, -5.300068056717227, 0.6999962752174893, 0.0, 0.0, -0.027124090120196342, 0.9996321201324463, 0.14905373250187637, -0.6446399252590753, 0.22987948001824643, -0.9998232126235962, -0.5034907460212708, -0.1818801611661911, 2.7031965146306902e-05, -0.00021531603988551046, -0.04007108846301136], "max": [4.885651397840596, -4.777068944894096, 0.7004871112514658, 0.0, 0.0, 0.0003414251550566405, 1.0, 0.5153404333084897, 0.7181554388181146, 0.6091726892663833, 0.9993842244148254, 0.4736953675746918, 0.18985632061958313, 0.15440183877944946, 0.04042722621198821, -0.011226621347396807], "mean": [4.866299092255896, -4.935152937669388, 0.700282493587012, 0.0, 0.0, -0.004452873616802577, 0.9999676428448695, 0.33831966171117694, 0.09536557006391942, 0.3521206832501208, -0.3305206637925062, 0.024952253892432708, 0.0019936362807059663, 0.036855282971822445, 0.03166062215136797, -0.031612930251611895], "std": [0.031424277605653146, 0.19801225282653925, 0.00012241259864946395, 0.0, 0.0, 0.006702802876031233, 6.259225801125236e-05, 0.08283422329049625, 0.41360812990627294, 0.09254360943097481, 0.9186174531423055, 0.19798679403164754, 0.06852109084828009, 0.031925718250940927, 0.011259050049701031, 0.010874062469128535], "count": [1248]}, "action": {"min": [-0.8285714285714285, -0.9714285714285714, -0.10571428571428572, 0.0, -1.0, -0.8214285714285715, -1.0, -0.6071428571428572, -0.18285714285714286, -0.2057142857142857, -0.48571428571428577, -1.0], "max": [0.5642857142857142, 0.6285714285714287, 0.14285714285714285, 0.0, 1.0, 1.0, 1.0, 1.0, 0.26285714285714284, 0.19714285714285715, 0.37714285714285717, 1.0], "mean": [0.005225503663003666, -0.011578525641025645, -0.0005677655677655678, 0.0, -0.8846153846153846, 0.01499542124542126, 0.006553342490842573, -0.011154990842490808, 0.003385989010989011, 0.0016025641025641034, -1.6025641025640778e-05, -0.22916666666666666], "std": [0.0854226274838548, 0.11184429565149107, 0.011428776883660957, 0.0, 0.46632137126854106, 0.20795219710164517, 0.46432650299832906, 0.25542415431976717, 0.04368089914011591, 0.03958472388382447, 0.09313107525995791, 0.9733871988519786], "count": [1248]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016826923936605453], "std": [0.1286226212978363], "count": [1248]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008012820512820513], "std": [0.028295582665079446], "count": [1248]}, "timestamp": {"min": [0.0], "max": [62.35], "mean": [31.175], "std": [18.013322615960295], "count": [1248]}, "frame_index": {"min": [0], "max": [1247], "mean": [623.5], "std": [360.26645231920594], "count": [1248]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [1248]}, "index": {"min": [91373], "max": [92620], "mean": [91996.5], "std": [360.26645231920594], "count": [1248]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1248]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4407635976753983]], [[0.4335999338700324]], [[0.4177202423938325]]], "std": [[[0.23147431794832993]], [[0.22643462131913863]], [[0.22035126997719218]]], "count": [245]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4508943838765975]], [[0.4337518823447348]], [[0.4157464086708902]]], "std": [[[0.2728622640147841]], [[0.27535331157454995]], [[0.2768619001123322]]], "count": [245]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.444386186115071]], [[0.430464173706592]], [[0.41511244610148745]]], "std": [[[0.2793180435287821]], [[0.28101880197167356]], [[0.2822600170911436]]], "count": [245]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1536]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1536]}, "observation.state": {"min": [0.7877889532427877, -2.4009346405089143, 0.699998916863666, 0.0, 0.0, 1.0, 1.0001997907238547e-05, 0.13527216488273097, -0.7608525621876332, 0.2310840303282372, -0.9922887086868286, -0.47930610179901123, -0.30661988258361816, 0.0002775915199890733, 0.0006328298550707166, -0.040667872211664846], "max": [0.7878750805453735, -2.4007100993566834, 0.7048843177256557, 0.0, 0.0, 1.0, 0.0002636995050124824, 0.6735796570236463, 0.5872904804579817, 0.5835729211094826, 0.9820870757102966, 0.53876131772995, 0.41173726320266724, 0.24209937453269958, 0.040499030610000826, -0.007273509006957805], "mean": [0.7878002511908005, -2.4007993158197856, 0.7026581626417073, 0.0, 0.0, 1.0, 0.00014971584299949825, 0.33150490202884275, -0.1888561348350165, 0.3314589146694199, 0.3683285560303678, 0.05410682082583662, 0.08515843945739714, 0.09324787472542084, 0.027249107539054757, -0.028671437523727337], "std": [6.8059173998047665e-06, 1.3125538025447506e-05, 0.0015740164933571309, 0.0, 0.0, 0.0, 1.3726310562058004e-05, 0.13430586596252928, 0.33275295067325605, 0.0668316300422194, 0.8624064849396622, 0.23765533220459015, 0.20584121354185753, 0.053514398571294586, 0.012791823151147127, 0.012599024188355451], "count": [1536]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.75, -0.5928571428571429, -0.9714285714285714, -0.24571428571428575, -0.20857142857142857, -0.25142857142857145, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45714285714285713, 0.9571428571428572, 0.7000000000000001, 0.26, 0.18857142857142858, 0.22, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.005008370535714287, 0.005259486607142826, -0.02486514136904759, -7.998511904762147e-05, -0.004397321428571427, -0.0022544642857142932, 0.06380208333333333], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19850413822731808, 0.3195284348155044, 0.19952239660028845, 0.04968083701656472, 0.04287782587782393, 0.05746845742028745, 0.9979625715237651], "count": [1536]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011067708022892475], "std": [0.10461938381195068], "count": [1536]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006510416666666666], "std": [0.025507210968957986], "count": [1536]}, "timestamp": {"min": [0.0], "max": [76.75], "mean": [38.37500000000001], "std": [22.17024563839261], "count": [1536]}, "frame_index": {"min": [0], "max": [1535], "mean": [767.5], "std": [443.40491276785224], "count": [1536]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [1536]}, "index": {"min": [92621], "max": [94156], "mean": [93388.5], "std": [443.40491276785224], "count": [1536]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1536]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.479877812572071]], [[0.38627091044757245]], [[0.33790962512358064]]], "std": [[[0.19290529110766058]], [[0.17583289956415427]], [[0.18421109852983902]]], "count": [271]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5770218724633822]], [[0.5089933878536568]], [[0.45021047170561895]]], "std": [[[0.162631432014346]], [[0.1766070211510759]], [[0.1882872661022934]]], "count": [271]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5807287712033686]], [[0.5139943743259239]], [[0.45230978343431755]]], "std": [[[0.16047529190958051]], [[0.17089140349516665]], [[0.17953317209925268]]], "count": [271]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1754]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1754]}, "observation.state": {"min": [0.7664956325658513, -2.8736483620835336, 0.699998341332539, 0.0, 0.0, -0.9999998807907104, 5.561667057918385e-05, -0.24806249095887, -0.3753045589787063, 0.2281987700950482, -0.9979122877120972, -0.48491334915161133, -0.4454416036605835, 5.962695286143571e-05, 0.010758091549548446, -0.040504605375284664], "max": [1.103293113986895, -1.5350428946610863, 0.7026216172490967, 0.0, 0.0, 1.0, 0.12034709006547928, 0.5581015647434078, 0.6566690610777488, 0.704617832304745, 0.989777147769928, 0.40851372480392456, 0.4094131588935852, 0.2227528691291809, 0.04054269226024468, -0.009618034113270347], "mean": [0.8059606258594963, -1.9278179270139495, 0.7016739790019515, 0.0, 0.0, 0.9680551573922995, 0.08450278153316398, 0.13805138217165613, 0.13444872766902097, 0.4478406227774883, -0.6067026330916341, -0.07595171876243202, -0.13696866456192058, 0.060615339727900945, 0.03109232043932452, -0.030276616380066786], "std": [0.044926358915220024, 0.556518443704268, 0.0008419241574083154, 0.0, 0.0, 0.23182077401502463, 0.04458289832748551, 0.17596255061014623, 0.2298310159561768, 0.1415330004352343, 0.7297228654442465, 0.19203130929525836, 0.1779235781710104, 0.0517719360501858, 0.011555773835156121, 0.011514379084211622], "count": [1754]}, "action": {"min": [-0.9803571428571428, -1.0, -0.20785714285714288, 0.0, -1.0, -1.0, -1.0, -0.5625000000000001, -0.23785714285714282, -0.6257142857142857, -0.5507142857142857, -1.0], "max": [0.7446428571428572, 1.0, 0.165, 0.0, 1.0, 0.675, 0.8517857142857143, 1.0, 0.24857142857142855, 0.2957142857142857, 0.1992857142857143, 1.0], "mean": [0.0037261769017755343, -0.0016930689037302452, -0.0028648802736602062, 0.0, -0.8027366020524516, 0.009992466199706796, 0.01863088450887768, -0.018635974914481226, 0.0008832871803225287, -0.0050199543899657985, 8.185372210457685e-05, -0.16875712656784492], "std": [0.11428117122970445, 0.19163147667099376, 0.028440451509158162, 0.0, 0.5963337553126368, 0.324411789913169, 0.2787495837524078, 0.2970633135228332, 0.03922549698691392, 0.08416720161214701, 0.05858924964574851, 0.9856576648271768], "count": [1754]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009692132472991943], "std": [0.0979703739285469], "count": [1754]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005701254275940707], "std": [0.023870491921845295], "count": [1754]}, "timestamp": {"min": [0.0], "max": [87.65], "mean": [43.825], "std": [25.31680518943889], "count": [1754]}, "frame_index": {"min": [0], "max": [1753], "mean": [876.5], "std": [506.33610378877785], "count": [1754]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [1754]}, "index": {"min": [94157], "max": [95910], "mean": [95033.5], "std": [506.33610378877785], "count": [1754]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1754]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23781418003399277]], [[0.23388879418362987]], [[0.2325676863874101]]], "std": [[[0.15370045820022743]], [[0.14333129310801732]], [[0.14266596009929502]]], "count": [231]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3623421849282445]], [[0.3357131871229197]], [[0.3288924522001627]]], "std": [[[0.20716195931704887]], [[0.2111588959673111]], [[0.2240851040269961]]], "count": [231]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3576834778137699]], [[0.33290903382689485]], [[0.32781113910407916]]], "std": [[[0.2016529795064753]], [[0.20369512899688097]], [[0.2157717995629618]]], "count": [231]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1420]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1420]}, "observation.state": {"min": [0.8062885140967991, -4.339275924042131, 0.6999986717995321, 0.0, 0.0, -1.0, 1.7557445630700386e-07, 0.20226628831571425, -0.5631008158648956, 0.2312872378294627, -0.9996629953384399, -0.30914556980133057, -0.24221280217170715, 1.4490917237708345e-05, 0.005772803651708863, -0.0401083942018405], "max": [0.8067861998248103, -4.338831241810562, 0.7015880791203084, 0.0, 0.0, 1.0, 0.00046912464313209057, 0.5384081102363769, 0.7201815010001535, 0.5843261784432429, 0.9995549917221069, 0.3168783187866211, 0.23674392700195312, 0.1446920484304428, 0.04054083366447402, -0.009552746879320022], "mean": [0.8064424138594758, -4.339094715413996, 0.7005962441673409, 0.0, 0.0, 0.3873239392965612, 0.0001476382955554071, 0.3584035267925017, 0.1304985157957605, 0.3154849409539772, -0.7280873120250836, -0.025629901415078152, 0.039019784238244544, 0.060390922882903444, 0.029998989094748685, -0.0297421951280488], "std": [9.082244137608015e-05, 9.233109067731148e-05, 0.0004866040087083273, 0.0, 0.0, 0.9219436844607044, 0.00012018094762103574, 0.0811029390352006, 0.37448357723862263, 0.06971556846832212, 0.6529794281712408, 0.1711139924251601, 0.08360722621938557, 0.03755086773572852, 0.012071531152702899, 0.011894636916022435], "count": [1420]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5142857142857143, -1.0, -0.39285714285714285, -0.09428571428571429, -0.21714285714285717, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7571428571428572, 1.0, 0.6142857142857143, 0.2, 0.1657142857142857, 0.19714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.008153923541247492, 0.003184104627766589, -0.01882796780684102, 0.0036800804828973845, 0.0005010060362173067, 0.0011368209255533202, -0.17887323943661973], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1442615261255606, 0.3673678557566331, 0.1582700073913155, 0.029712157143895915, 0.0432383673243544, 0.06018741419126215, 0.9838721279787628], "count": [1420]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0211267601698637], "std": [0.14380688965320587], "count": [1420]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007042253521126761], "std": [0.026527898875827273], "count": [1420]}, "timestamp": {"min": [0.0], "max": [70.95], "mean": [35.475], "std": [20.495929473922374], "count": [1420]}, "frame_index": {"min": [0], "max": [1419], "mean": [709.5], "std": [409.91858947844753], "count": [1420]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [1420]}, "index": {"min": [95911], "max": [97330], "mean": [96620.5], "std": [409.91858947844753], "count": [1420]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1420]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4159419310075248]], [[0.33373556371221513]], [[0.2940907959648128]]], "std": [[[0.15113304994435572]], [[0.13865707138889388]], [[0.15089187023099918]]], "count": [238]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.637067300064557]], [[0.5405109110725517]], [[0.47000048454009363]]], "std": [[[0.2091434199698235]], [[0.23177479703853915]], [[0.2313362804330941]]], "count": [238]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6404032821768413]], [[0.5494948566441168]], [[0.4805192935759437]]], "std": [[[0.21906245865856053]], [[0.23572877981046003]], [[0.23247913135581566]]], "count": [238]}, "annotation.human.task_description": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1481]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1481]}, "observation.state": {"min": [0.7990240449992019, -4.414402125488935, 0.699994948677002, 0.0, 0.0, -1.0, 0.0, 0.15684263051658298, -0.6271027543903442, 0.22709516520051065, -0.9989228844642639, -0.535498857498169, -0.34988346695899963, 4.5060245611239225e-05, 0.0011231910829411318, -0.040005140588459116], "max": [0.7991169248282458, -4.41420425556998, 0.7044256837250162, 0.0, 0.0, 1.0, 0.0001383596973028034, 0.4891692894889518, 0.6501270309530938, 0.5998056362447298, 0.9986129999160767, 0.3931446969509125, 0.32032510638237, 0.17616376280784607, 0.04083560072627348, -0.003800798230899644], "mean": [0.7990386423508465, -4.414355948676535, 0.7025571671964423, 0.0, 0.0, 0.26941255908170153, 8.51761615146269e-06, 0.3080979206750928, 0.09412386930186359, 0.34583092156404877, -0.12726937444688177, -0.08467546426348393, -0.038799268342579726, 0.06557598681924616, 0.02662451182864783, -0.02612869291103033], "std": [6.4871294467617405e-06, 1.532294468992154e-05, 0.0014430690871423287, 0.0, 0.0, 0.9630248558625369, 1.83780033310305e-05, 0.06477905015992184, 0.3539539275174765, 0.0799404849964894, 0.9412234876119334, 0.21585015171393132, 0.1891675130283818, 0.05049443241344766, 0.014789779684349042, 0.014542317664653406], "count": [1481]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7214285714285715, -0.6, -0.6142857142857143, -0.12285714285714287, -0.1657142857142857, -0.22, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5357142857142857, 0.6642857142857144, 0.8571428571428572, 0.17142857142857143, 0.10285714285714286, 0.26857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.015636153178354376, -0.006231310890325104, -0.022571621491270438, -0.00278383331725668, 0.001863605671843349, 0.0015587923217902958, -0.074949358541526], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16262174832327583, 0.29550848655500567, 0.2096279317064155, 0.028715468402115432, 0.03215047463812161, 0.06159957997428453, 0.9971873413026314], "count": [1481]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01080351136624813], "std": [0.10337696224451065], "count": [1481]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006752194463200541], "std": [0.02597621075175063], "count": [1481]}, "timestamp": {"min": [0.0], "max": [74.0], "mean": [37.0], "std": [21.376388843768723], "count": [1481]}, "frame_index": {"min": [0], "max": [1480], "mean": [740.0], "std": [427.5277768753745], "count": [1481]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1481]}, "index": {"min": [97331], "max": [98811], "mean": [98071.0], "std": [427.5277768753745], "count": [1481]}, "task_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1481]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36300910138262216]], [[0.28298219925201773]], [[0.2491169999580285]]], "std": [[[0.18749276978387036]], [[0.15565993742074435]], [[0.15636245317683448]]], "count": [198]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5705428122151934]], [[0.4523348975450739]], [[0.3788617529050268]]], "std": [[[0.18007568052531306]], [[0.2008235115656294]], [[0.21024462880958755]]], "count": [198]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5659672456629136]], [[0.44874517478950426]], [[0.37650264922074217]]], "std": [[[0.18531914876473582]], [[0.20149340772259816]], [[0.20906425080580965]]], "count": [198]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1157]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1157]}, "observation.state": {"min": [0.7941047288650113, -2.3151756172950875, 0.699999121854296, 0.0, 0.0, -1.0, 1.443600126549427e-06, 0.1839113347881527, -0.723402963603663, 0.2185065545358692, -0.9925234913825989, -0.48258399963378906, -0.3752884566783905, 0.0007517223129980266, 0.000831917878556745, -0.040815230338409586], "max": [0.7942265068367317, -2.3147282185867977, 0.712922073082723, 0.0, 0.0, 1.0, 0.00043409422505646944, 0.48099069969794445, 0.46562039602247607, 0.6000585333711843, 0.9878731966018677, 0.46428555250167847, 0.44319790601730347, 0.3102516531944275, 0.041034049283646484, 0.0012001957654125305], "mean": [0.7941251042284455, -2.315050761766274, 0.7083018926529955, 0.0, 0.0, 0.9861711316203494, 0.00015575436796575617, 0.3443595148540247, -0.08578309117582253, 0.30572544161204634, 0.015350702515736466, 0.03888985223572318, 0.018074795062023447, 0.09873589921987985, 0.030148345923304225, -0.029578791638370357], "std": [1.5280183308775402e-05, 4.787344845224341e-05, 0.00497271488707444, 0.0, 0.0, 0.16573019616907847, 4.263226607405173e-05, 0.07770587496477392, 0.35664789247441486, 0.07833220092625405, 0.9315603682999384, 0.2696614916356106, 0.2093326596087537, 0.06192138336796749, 0.011974882398992227, 0.011987312896361612], "count": [1157]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5928571428571429, -0.6857142857142858, -0.5928571428571429, -0.23714285714285716, -0.18857142857142858, -0.34, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5214285714285715, 1.0, 0.8285714285714285, 0.2714285714285714, 0.13142857142857142, 0.24285714285714288, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.017347820718607247, -0.017341647116927993, -0.03468946783553513, 0.0033658476355105603, -0.004556118039264108, -0.0020891468082479252, -0.09766637856525497], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19372525157453702, 0.3036086112666313, 0.23308511963351847, 0.05508719577556577, 0.03371514443838321, 0.07909215378730956, 0.995219211278579], "count": [1157]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013828868046402931], "std": [0.11678025871515274], "count": [1157]}, "next.done": {"min": [false], "max": [true], "mean": [0.000864304235090752], "std": [0.029386343993085564], "count": [1157]}, "timestamp": {"min": [0.0], "max": [57.8], "mean": [28.900000000000002], "std": [16.699850298730226], "count": [1157]}, "frame_index": {"min": [0], "max": [1156], "mean": [578.0], "std": [333.9970059746045], "count": [1157]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1157]}, "index": {"min": [98812], "max": [99968], "mean": [99390.0], "std": [333.9970059746045], "count": [1157]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1157]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5533617234266002]], [[0.5402926180049845]], [[0.532431175726751]]], "std": [[[0.29315653975712325]], [[0.30824636104313546]], [[0.32048607231410675]]], "count": [260]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6522187938661418]], [[0.6198079601995545]], [[0.5873136584251714]]], "std": [[[0.19450712974891202]], [[0.2034209407095866]], [[0.21708734852421427]]], "count": [260]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6270313211156232]], [[0.5958684294687676]], [[0.5656535847981771]]], "std": [[[0.21006562378810695]], [[0.2165824878999105]], [[0.22655318171561578]]], "count": [260]}, "annotation.human.task_description": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1667]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1667]}, "observation.state": {"min": [2.8545453814332915, -1.767911528753366, 0.6999967685601017, 0.0, 0.0, -0.7128216028213501, 0.7013453245162964, 0.15309233749051443, -0.5216085743806809, 0.23049515881238458, -0.9998401403427124, -0.6528604030609131, -0.1669221818447113, 6.606669194297865e-05, 0.011474347338256549, -0.040012895269161526], "max": [3.457154010974168, -1.5149891358739294, 0.7014451971030394, 0.0, 0.0, -0.6956233978271484, 0.7184065580368042, 0.46960595838994723, 0.7639710364119514, 0.6129631457717063, 0.9984982013702393, 0.6546655893325806, 0.237199604511261, 0.20330218970775604, 0.04059957039563887, -0.0009184162072659304], "mean": [3.195540347641881, -1.744318390981589, 0.7002951678166756, 0.0, 0.0, -0.7092931686079853, 0.7049062491964994, 0.2919384886631795, 0.15458641337488363, 0.3601328180622647, -0.20210763334727389, -0.04656610722487639, 0.019501667030736042, 0.04028017834669498, 0.03320634312205034, -0.03235540935912079], "std": [0.22973195802559968, 0.042382588345381424, 0.0003800746148387838, 0.0, 0.0, 0.0022754350855829883, 0.002279683277841074, 0.07944517082088996, 0.39114719540336546, 0.09115764719927728, 0.9522260346687859, 0.1998725056008919, 0.08589342555352351, 0.030334438636332627, 0.010966065125770441, 0.011400440592526288], "count": [1667]}, "action": {"min": [-0.5928571428571429, -0.6428571428571428, -0.16285714285714287, 0.0, -1.0, -0.807142857142857, -1.0, -0.4357142857142858, -0.10857142857142858, -0.2057142857142857, -0.26285714285714284, -1.0], "max": [0.6571428571428571, 0.8928571428571429, 0.11714285714285716, 0.0, 1.0, 0.8142857142857143, 1.0, 0.8214285714285715, 0.21142857142857144, 0.21714285714285717, 0.3514285714285714, 1.0], "mean": [0.003993487016882338, 0.0042977118861941875, -0.0005210386494129744, 0.0, -0.8488302339532093, 0.013895792270117412, -0.011410575027851635, -0.016286742651469736, 0.003798097523352467, 0.0025914817036592646, 0.0012768874796469313, -0.3053389322135573], "std": [0.08404531956359491, 0.10512577199615993, 0.015477190083792435, 0.0, 0.5286655217875845, 0.14251523404350822, 0.3998032655517407, 0.1852896135280611, 0.02894385734247316, 0.034922149406081716, 0.07341700712488065, 0.9522437379550799], "count": [1667]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013197360560297966], "std": [0.11411919444799423], "count": [1667]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005998800239952009], "std": [0.024485100938162627], "count": [1667]}, "timestamp": {"min": [0.0], "max": [83.3], "mean": [41.65], "std": [24.0610681392161], "count": [1667]}, "frame_index": {"min": [0], "max": [1666], "mean": [833.0], "std": [481.22136278432197], "count": [1667]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1667]}, "index": {"min": [99969], "max": [101635], "mean": [100802.0], "std": [481.22136278432197], "count": [1667]}, "task_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1667]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49508658073745687]], [[0.4706705025320488]], [[0.45258248201418527]]], "std": [[[0.23116288303210897]], [[0.23502073382891323]], [[0.23556540489476346]]], "count": [261]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5511593107725459]], [[0.4621938583216976]], [[0.4298270995213369]]], "std": [[[0.20871952678636874]], [[0.2586843380379165]], [[0.2561498618650426]]], "count": [261]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.547852509826518]], [[0.45245646947528717]], [[0.41709365025101125]]], "std": [[[0.19793102622133577]], [[0.24933984559450423]], [[0.24506757580341823]]], "count": [261]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1671]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1671]}, "observation.state": {"min": [2.537668264458214, -2.446213901571538, 0.6999906225818014, 0.0, 0.0, -0.7367668151855469, 0.6761468648910522, -0.043381182747955105, -0.12390725036114603, 0.22301766334946316, -0.9948180317878723, -0.5028542876243591, -0.3223024606704712, 7.128219294827431e-05, -0.0011469489264874845, -0.04088536537318258], "max": [3.4012979092200286, -2.3517088401574515, 0.7085910392936098, 0.0, 0.0, -0.7067371606826782, 0.7074762582778931, 0.518695229305147, 0.6396507011542512, 0.6099077239602915, 0.9933899641036987, 0.48817211389541626, 0.32696616649627686, 0.1805546134710312, 0.041454168903017695, -0.011149190267262365], "mean": [3.1209653194471096, -2.4327195710631893, 0.7040102278710791, 0.0, 0.0, -0.72500277557179, 0.688521012012863, 0.18811678997793244, 0.11294201802464163, 0.404514104858988, -0.637512475662357, 0.004127013998107236, -0.06950559120238539, 0.06728676940860112, 0.03485763472571594, -0.03418051677174163], "std": [0.3711087469839034, 0.013258047492447817, 0.002975991470337812, 0.0, 0.0, 0.01219859483658731, 0.0126876571175178, 0.1450314547515407, 0.1970967591817797, 0.12343263654211181, 0.7262887046392097, 0.1886417300320669, 0.13672906707048363, 0.049259016781930294, 0.009825142776813008, 0.009215399847453743], "count": [1671]}, "action": {"min": [-0.44464285714285723, -0.7660714285714286, -0.07071428571428573, 0.0, -1.0, -0.8357142857142857, -1.0, -1.0, -0.11357142857142859, -0.2442857142857143, -0.4092857142857143, -1.0], "max": [0.6589285714285714, 1.0, 0.0, 0.0, 1.0, 0.6857142857142857, 0.8624999999999999, 1.0, 0.2828571428571429, 0.24642857142857144, 0.16071428571428573, 1.0], "mean": [0.018331623493203393, 0.003917671197743009, -0.0018774044626827398, 0.0, -0.8001196888090963, -0.0041965888689407625, -0.008416688039668252, -0.04355069675985294, 0.0029853808668889427, -0.0017235188509874312, -0.00016029751218261473, -0.18252543387193298], "std": [0.10366200335535702, 0.18831665573149856, 0.008644113032339421, 0.0, 0.599840381751707, 0.319283407109329, 0.2574764665843317, 0.29830488303219566, 0.0365097868954057, 0.053197980437963054, 0.05363352772446149, 0.983201132012081], "count": [1671]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009575104340910912], "std": [0.09738286584615707], "count": [1671]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005984440454817474], "std": [0.0244557950229833], "count": [1671]}, "timestamp": {"min": [0.0], "max": [83.5], "mean": [41.75], "std": [24.118803176498343], "count": [1671]}, "frame_index": {"min": [0], "max": [1670], "mean": [835.0], "std": [482.37606352996687], "count": [1671]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [1671]}, "index": {"min": [101636], "max": [103306], "mean": [102471.0], "std": [482.37606352996687], "count": [1671]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1671]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37248668976646054]], [[0.36834535135989566]], [[0.3456484490324894]]], "std": [[[0.22911430269332092]], [[0.2179598106894119]], [[0.19799981639664477]]], "count": [198]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5960754938516599]], [[0.5485405528868843]], [[0.48800242033588415]]], "std": [[[0.2578124849052415]], [[0.27919456531279846]], [[0.2847255936773311]]], "count": [198]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6082611153493614]], [[0.5667042956443842]], [[0.5080261726099846]]], "std": [[[0.26160923695345956]], [[0.2803010965148205]], [[0.28322177304918167]]], "count": [198]}, "annotation.human.task_description": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1155]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1155]}, "observation.state": {"min": [0.7664597274276419, -4.7289159242626475, 0.6999972238588917, 0.0, 0.0, -1.0, 1.6465892827000062e-07, 0.23429546005579227, -0.7443783628401248, 0.22969703120103013, -0.9979143738746643, -0.9996417164802551, -0.2055853307247162, 2.0867004423053004e-05, 0.010137285493943604, -0.04110168935021275], "max": [0.8093549664710544, -4.3212865078178435, 0.7006277241010354, 0.0, 0.0, 1.0, 0.007875877432525158, 0.48916567342806744, 0.47262793021594973, 0.5956891084451439, 0.9993391633033752, 0.9985240697860718, 0.14295241236686707, 0.15502938628196716, 0.03995897271110885, -0.008427129907160833], "mean": [0.7912671771154048, -4.50387896443316, 0.700169953395536, 0.0, 0.0, -0.46146312472108125, 0.00312836273453172, 0.3296117300815679, -0.14673428578783507, 0.37010326270260024, 0.26161295204580604, 0.2340328359210388, -0.009998382339193547, 0.04406229687458061, 0.029279520914709443, -0.028903142528732856], "std": [0.020531285616337137, 0.2013131018141323, 0.00014511981308045965, 0.0, 0.0, 0.8871493600924837, 0.002839187123394539, 0.06794842442476413, 0.32151493611031295, 0.08893398819163648, 0.6251658602287651, 0.6912190233667463, 0.0721807376487293, 0.03032645283483947, 0.011451339277511859, 0.011769546238862647], "count": [1155]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7785714285714286, -0.9857142857142858, -0.5285714285714286, -0.1657142857142857, -0.2714285714285714, -0.4885714285714286, -1.0], "max": [0.46428571428571436, 1.0, 0.08, 0.0, 1.0, 0.6071428571428572, 1.0, 1.0, 0.1742857142857143, 0.17142857142857143, 0.5542857142857143, 1.0], "mean": [0.0030117501546072976, 0.012306740878169452, 0.00045763760049474334, 0.0, -0.9428571428571428, 0.008491032776747068, -0.004322820037105801, -0.0166295609152752, -0.006132343846629562, -0.0028893011750154617, 0.02067285095856521, -0.08917748917748917], "std": [0.03222034833770706, 0.09207134856693842, 0.005050757800818184, 0.0, 0.3331972511340137, 0.21383036072576, 0.41484810147033424, 0.2508780089997416, 0.03551598845445476, 0.054639724118550156, 0.14197491207071478, 0.9960157505903183], "count": [1155]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022510822862386703], "std": [0.1483377367258072], "count": [1155]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008658008658008658], "std": [0.029411753682187063], "count": [1155]}, "timestamp": {"min": [0.0], "max": [57.7], "mean": [28.85], "std": [16.670982774469735], "count": [1155]}, "frame_index": {"min": [0], "max": [1154], "mean": [577.0], "std": [333.41965548939476], "count": [1155]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [1155]}, "index": {"min": [103307], "max": [104461], "mean": [103884.0], "std": [333.41965548939476], "count": [1155]}, "task_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1155]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46392510486057636]], [[0.4454927817437152]], [[0.4238688296594504]]], "std": [[[0.23687833210322143]], [[0.2242409381387074]], [[0.21644804740632376]]], "count": [222]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6191782493301551]], [[0.6043538759167888]], [[0.5894648115450872]]], "std": [[[0.27253973313600294]], [[0.2830950222949819]], [[0.293331820641976]]], "count": [222]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6099299398670557]], [[0.5901278726415696]], [[0.5698555727178523]]], "std": [[[0.24948371778689102]], [[0.26381100814150565]], [[0.2769602039576974]]], "count": [222]}, "annotation.human.task_description": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1348]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1348]}, "observation.state": {"min": [2.8032216288782132, -0.8404877254234212, 0.6999959089532595, 0.0, 0.0, 0.6802579760551453, 0.7054901719093323, 0.0068524201016179065, -0.14128455397758044, 0.22461039272359795, -0.9986639022827148, -0.6671921014785767, -0.3330061137676239, 0.00011713467392837629, 0.01188605292240425, -0.04088530622175077], "max": [3.361644990387243, -0.757863828556228, 0.7088698324025429, 0.0, 0.0, 0.7087197303771973, 0.7329726815223694, 0.49943795045685957, 0.6429993937573069, 0.6006510127754332, 0.9985401034355164, 0.23668143153190613, 0.322028785943985, 0.17781326174736023, 0.0409702510842415, -0.001819935587191584], "mean": [3.1688142392200835, -0.7756362710105505, 0.7028339587736117, 0.0, 0.0, 0.704597732698882, 0.7095554760637905, 0.2507988825031083, 0.1838034652803243, 0.38841622066920894, -0.7893437033944738, -0.16123565903226417, -0.08989482686461263, 0.053217563874557644, 0.030271092982246853, -0.030383598945629434], "std": [0.23197199336075214, 0.016426873480274218, 0.0031878832879568652, 0.0, 0.0, 0.00613633252517079, 0.005949378665425725, 0.11943591694253561, 0.19911894769293212, 0.10537071055198605, 0.5290255147555262, 0.20878654138512884, 0.12371007336682545, 0.03553013215599733, 0.011126468140953381, 0.0109858323188062], "count": [1348]}, "action": {"min": [-0.6482142857142857, -0.8785714285714287, -0.13285714285714284, 0.0, -1.0, -0.8785714285714287, -0.7928571428571429, -0.5732142857142857, -0.28500000000000003, -0.1992857142857143, -0.3042857142857143, -1.0], "max": [0.6214285714285714, 0.9214285714285715, 0.0, 0.0, 1.0, 0.7553571428571428, 0.7017857142857142, 1.0, 0.13285714285714284, 0.21214285714285713, 0.3085714285714286, 1.0], "mean": [0.005404832556167868, 0.0009299491309877071, -0.0014259220008478169, 0.0, -0.870919881305638, 0.0034614773208986884, 0.0013830012717253222, -0.030142539211530376, -0.0013941288681644762, 0.0036164688427299755, 0.004010703688003426, -0.1661721068249258], "std": [0.07914676249210356, 0.13542493181913853, 0.012492730603700198, 0.0, 0.4914250302401899, 0.27847565860446016, 0.26999978237770694, 0.3024105069980681, 0.037877142581823134, 0.047136046980264384, 0.05423901957410675, 0.9860967654917868], "count": [1348]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021513354033231735], "std": [0.14508800208568573], "count": [1348]}, "next.done": {"min": [false], "max": [true], "mean": [0.000741839762611276], "std": [0.027226631014098765], "count": [1348]}, "timestamp": {"min": [0.0], "max": [67.35], "mean": [33.675], "std": [19.45669871792232], "count": [1348]}, "frame_index": {"min": [0], "max": [1347], "mean": [673.5], "std": [389.1339743584464], "count": [1348]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [1348]}, "index": {"min": [104462], "max": [105809], "mean": [105135.5], "std": [389.1339743584464], "count": [1348]}, "task_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1348]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5167511347751992]], [[0.46685969932406557]], [[0.4532315834195006]]], "std": [[[0.20365423582983977]], [[0.21699357263623942]], [[0.21818389216539386]]], "count": [250]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6010147738587622]], [[0.4678644940544577]], [[0.4250846392463235]]], "std": [[[0.1748821794789346]], [[0.22394573572118942]], [[0.21651429260065502]]], "count": [250]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6030657080556832]], [[0.4699585652669271]], [[0.4277118992225797]]], "std": [[[0.17369341690814857]], [[0.22369580369237643]], [[0.21705172140860454]]], "count": [250]}, "annotation.human.task_description": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1579]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1579]}, "observation.state": {"min": [0.7783551937089043, -3.6723672690394635, 0.6999936211453268, 0.0, 0.0, -1.0, 8.519772620729782e-08, -0.05375945542036542, -0.3715864670418165, 0.22772538329967373, -0.9955683946609497, -0.5822434425354004, -0.428648978471756, 0.0003125205694232136, 0.008361305629416853, -0.040052060789615256], "max": [0.8337723571510215, -2.6144901226613206, 0.7023111003103977, 0.0, 0.0, 1.0, 0.026311758905649185, 0.5358233330473008, 0.328894889482096, 0.6660160042256286, 0.9715712070465088, 0.5809086561203003, 0.5100882649421692, 0.22330746054649353, 0.04064303103429446, -0.011349933505736785], "mean": [0.7883836079101301, -3.1768307017048962, 0.700840159875954, 0.0, 0.0, 0.9429238614891057, 0.010819321991124304, 0.23239189539600175, -0.010111400553777588, 0.4139035401681497, -0.6613130339948039, 0.10222912365081116, -0.10713148093712324, 0.07178951392801136, 0.0314691295350938, -0.029523003121846754], "std": [0.009616167600018929, 0.5087446048696125, 0.0006288128274954257, 0.0, 0.0, 0.33277398569536215, 0.0062483079564562335, 0.1533182270907715, 0.17226500381492701, 0.13532599445082405, 0.6738241776912149, 0.1892315365323691, 0.20968495080369556, 0.04204771394618549, 0.011592542713692875, 0.011802199092581372], "count": [1579]}, "action": {"min": [-0.5625000000000001, -0.9267857142857143, -0.08571428571428572, 0.0, -1.0, -1.0, -0.75, -0.6107142857142858, -0.18857142857142858, -0.4992857142857143, -0.34714285714285714, -1.0], "max": [0.5357142857142857, 0.8464285714285713, 0.09428571428571429, 0.0, 1.0, 0.6267857142857143, 0.8035714285714287, 0.9696428571428571, 0.24214285714285713, 0.20357142857142857, 0.26142857142857145, 1.0], "mean": [0.007687958020446938, -0.008071338098253866, -0.001103320365511626, 0.0, -0.8391386953768207, 0.014405591242196708, 0.015732154166289706, -0.0027277662173165376, 0.003875870804306521, 0.0009201121867366328, -0.004861123676829815, -0.18429385687143762], "std": [0.06575717128459094, 0.16103010452258698, 0.0105473377371697, 0.0, 0.5439175028635285, 0.2993845242770631, 0.2450449342494278, 0.2889731810719365, 0.04393471068768431, 0.08543152395095488, 0.07141728697381437, 0.9828711890779158], "count": [1579]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013299556449055672], "std": [0.1145542562007904], "count": [1579]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006333122229259025], "std": [0.025157725226144654], "count": [1579]}, "timestamp": {"min": [0.0], "max": [78.9], "mean": [39.45], "std": [22.790897305722737], "count": [1579]}, "frame_index": {"min": [0], "max": [1578], "mean": [789.0], "std": [455.8179461144548], "count": [1579]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1579]}, "index": {"min": [105810], "max": [107388], "mean": [106599.0], "std": [455.8179461144548], "count": [1579]}, "task_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1579]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49285866462626965]], [[0.4933341709556982]], [[0.48593313611290934]]], "std": [[[0.2772581818222547]], [[0.2790260788665918]], [[0.28006522949839757]]], "count": [208]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4155890874733213]], [[0.42521798894775764]], [[0.441650440969798]]], "std": [[[0.29018876417460665]], [[0.27640129288673043]], [[0.25401890729264526]]], "count": [208]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4305363437888489]], [[0.4402843857962262]], [[0.45659768261341305]]], "std": [[[0.2975361867174514]], [[0.2837840596991196]], [[0.26119776263861366]]], "count": [208]}, "annotation.human.task_description": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1237]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1237]}, "observation.state": {"min": [0.7975905103036547, -2.3230468699163973, 0.6999982505095411, 0.0, 0.0, -1.0, 2.6007424480667396e-07, 0.13068716874074648, -0.6717179927439985, 0.22940659220988258, -0.9914191365242004, -0.5205445885658264, -0.2909410297870636, 8.537713256373536e-06, 0.0030083962292611287, -0.04149456172550816], "max": [0.8267583068246629, -1.7074833064052113, 0.7038225513629364, 0.0, 0.0, 1.0, 0.00032290187664330006, 0.44957299274872475, 0.7030439626029583, 0.5894290527967849, 0.9850059747695923, 0.27914783358573914, 0.25664639472961426, 0.29691609740257263, 0.040358880176093265, -0.005327565809214479], "mean": [0.8099024766449734, -2.0830014846222413, 0.701355083484553, 0.0, 0.0, 0.7332255456750202, 0.00010495405953589114, 0.3034232356016414, -0.039148254538229385, 0.3251990487230816, 0.2005818305520541, -0.02569935543699041, 0.026354353137091464, 0.08326446303319741, 0.027727915070203075, -0.028421061262691387], "std": [0.014307729653021307, 0.29532542167941506, 0.0010485018729314316, 0.0, 0.0, 0.6799855139409725, 7.463482503224312e-05, 0.09776126490031767, 0.30768676908667064, 0.06460133387288208, 0.9380052753087286, 0.17179901910039966, 0.19044559234397865, 0.07642398452998408, 0.013029936550020311, 0.01286173943753879], "count": [1237]}, "action": {"min": [-0.3857142857142857, -0.5071428571428571, 0.0, 0.0, -1.0, -0.8214285714285715, -0.8214285714285715, -0.6928571428571428, -0.3314285714285714, -0.18285714285714286, -0.3742857142857143, -1.0], "max": [0.0, 0.0, 0.002857142857142857, 0.0, 1.0, 0.5071428571428571, 0.8142857142857143, 0.6857142857142858, 0.23142857142857146, 0.16857142857142857, 0.24285714285714288, 1.0], "mean": [-0.0028294260307194824, -0.023530430765677325, 2.30973553528121e-06, 0.0, -0.8431689571544059, 0.0016861069407552855, 0.01116757131308464, -0.04022404434692225, -0.000528929437579398, -0.0050652500288716875, 0.0026908418986026123, -0.10913500404203719], "std": [0.027849095652836914, 0.09929944696703122, 8.12028910093419e-05, 0.0, 0.5376486861242755, 0.17086211991086642, 0.3658591223604871, 0.19379233962405612, 0.056698038080568405, 0.04363539951621652, 0.062338557754069095, 0.9940269367038025], "count": [1237]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023443816229701042], "std": [0.1513083130121231], "count": [1237]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008084074373484236], "std": [0.02842101185326911], "count": [1237]}, "timestamp": {"min": [0.0], "max": [61.8], "mean": [30.900000000000002], "std": [17.854551240510077], "count": [1237]}, "frame_index": {"min": [0], "max": [1236], "mean": [618.0], "std": [357.0910248102016], "count": [1237]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1237]}, "index": {"min": [107389], "max": [108625], "mean": [108007.0], "std": [357.0910248102016], "count": [1237]}, "task_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1237]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4064124861080145]], [[0.4068117121357845]], [[0.41001390158331663]]], "std": [[[0.27032172286432676]], [[0.2741595295379525]], [[0.2755118267721486]]], "count": [202]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5990442319324563]], [[0.597455720007246]], [[0.5800224172377026]]], "std": [[[0.3089302165236185]], [[0.29409123624861505]], [[0.2696537633052035]]], "count": [202]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6057591578447108]], [[0.6048743806193578]], [[0.5876897270900258]]], "std": [[[0.2983512172630412]], [[0.2827603676482111]], [[0.2582176936452637]]], "count": [202]}, "annotation.human.task_description": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [1190]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1190]}, "observation.state": {"min": [4.847044476209879, -5.295589447208833, 0.6999960431270352, 0.0, 0.0, -2.2595400878344662e-05, 0.9999998807907104, 0.14335050849355202, -0.7140231770933738, 0.22566423412478265, -0.995936393737793, -0.48956865072250366, -0.3199838399887085, 0.00010236266098218039, 0.006946971403096659, -0.04078628042876107], "max": [4.8782683001296085, -4.777775087505254, 0.7066832360443627, 0.0, 0.0, 0.0005625777994282544, 1.0, 0.4817853383195949, 0.6987682490443383, 0.5823992946621646, 0.995974600315094, 0.38575053215026855, 0.31403958797454834, 0.31282854080200195, 0.04151211394004011, -0.002200748654715745], "mean": [4.871076062204399, -4.886830873377512, 0.7040746018089664, 0.0, 0.0, 0.0001945856246714991, 0.9999999955922616, 0.27565873378510847, 0.04126451451675565, 0.3264247438766135, -0.06528219740931727, -0.007168158175063734, 0.004442967179166779, 0.08995658884901908, 0.029653541313936778, -0.028783381942280445], "std": [0.012907750893488846, 0.2068785177566927, 0.002188428434161904, 0.0, 0.0, 8.947248179729153e-05, 2.2494781828023682e-08, 0.06903631623009002, 0.3817889684105775, 0.06955945633743005, 0.955892053538191, 0.19051446856097395, 0.18028577423890907, 0.0710392965384344, 0.01172408897869744, 0.012506818049401982], "count": [1190]}, "action": {"min": [-0.3785714285714286, -0.5, 0.0, 0.0, -1.0, -0.8714285714285716, -1.0, -0.9071428571428573, -0.3742857142857143, -0.19714285714285715, -0.2914285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 0.7357142857142858, 1.0, 0.7571428571428572, 0.26, 0.24285714285714288, 0.23142857142857146, 1.0], "mean": [-0.007851140456182478, -0.02032412965186074, 0.0, 0.0, -0.892436974789916, 0.017983193277310933, 0.013487394957983173, -0.042569027611044384, 0.0008139255702280968, 0.001087635054021607, 0.00372869147659064, -0.1411764705882353], "std": [0.037948314392608325, 0.09296548061326669, 0.0, 0.0, 0.4511720802840321, 0.22032594707705466, 0.38913935128056715, 0.2531843217900198, 0.06797895443042841, 0.05016498627323782, 0.07470269293905667, 0.9899844464193602], "count": [1190]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016806723549962044], "std": [0.12854671478271484], "count": [1190]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008403361344537816], "std": [0.028976369158935575], "count": [1190]}, "timestamp": {"min": [0.0], "max": [59.45], "mean": [29.725], "std": [17.176164443786625], "count": [1190]}, "frame_index": {"min": [0], "max": [1189], "mean": [594.5], "std": [343.52328887573253], "count": [1190]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1190]}, "index": {"min": [108626], "max": [109815], "mean": [109220.5], "std": [343.52328887573253], "count": [1190]}, "task_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [1190]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5540427587265577]], [[0.5113895694136219]], [[0.46996828695628795]]], "std": [[[0.27807658289770304]], [[0.24441445669882753]], [[0.2126704339866708]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6334433627978798]], [[0.5378653781607566]], [[0.4722366529885412]]], "std": [[[0.21168424139243508]], [[0.25279651114231527]], [[0.2736049236302414]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.63840817466301]], [[0.5413988049263079]], [[0.47588275078894904]]], "std": [[[0.2038083265068567]], [[0.25105169365418983]], [[0.27545429507704183]]], "count": [193]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1118]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1118]}, "observation.state": {"min": [2.897449782782395, -3.659511296534818, 0.6999958014948371, 0.0, 0.0, 0.6941799521446228, 0.7049815654754639, 0.19263536502850398, -0.6143951292749108, 0.2300868770751322, -0.9990578293800354, -0.6670962572097778, -0.24688780307769775, 2.7538164431462064e-05, 0.011688033622568938, -0.0400415578947141], "max": [3.878907398197217, -3.6190625344304657, 0.700746933398735, 0.0, 0.0, 0.709225594997406, 0.7198015451431274, 0.6164920862245595, 0.5612931817743032, 0.6081442847796673, 0.9971714615821838, 0.39943182468414307, 0.18957917392253876, 0.15074709057807922, 0.040870972031828684, -0.012772388882081822], "mean": [3.543870910184254, -3.634328935580891, 0.7004392411088287, 0.0, 0.0, 0.7051473388411704, 0.7090394255940091, 0.3798526362836906, -0.010188387270389603, 0.36676256664336454, -0.6322557402104939, 0.049981522152270315, -0.02463010195025002, 0.038689992011523615, 0.03369639943947473, -0.03319604793411377], "std": [0.2993956400338631, 0.006226610417981294, 0.00025331451531774755, 0.0, 0.0, 0.00391750567787552, 0.0038688292259362466, 0.1089811994687012, 0.3329276518043213, 0.08168225898483751, 0.7340515652992429, 0.21361897151858597, 0.10200106092206458, 0.02796392996836337, 0.008648585932566266, 0.008876709477858532], "count": [1118]}, "action": {"min": [-0.42142857142857143, -1.0, -0.12857142857142856, 0.0, -1.0, -1.0, -1.0, -0.6857142857142858, -0.2714285714285714, -0.26285714285714284, -0.5685714285714286, -1.0], "max": [0.7071428571428572, 1.0, 0.045714285714285714, 0.0, 1.0, 1.0, 1.0, 0.7428571428571429, 0.19714285714285715, 0.4257142857142857, 0.4828571428571429, 1.0], "mean": [0.005449782775364172, -0.008720930232558134, -0.0007794531050345003, 0.0, -0.7978533094812165, 0.0091170457449527, -0.002498083312036787, -0.023498594428826926, -0.0009148990544339353, -0.004768719652440588, -0.0025658062867365333, -0.3023255813953488], "std": [0.0733308497030444, 0.21651603930305366, 0.010175271480003734, 0.0, 0.6028516372623255, 0.2823296195639802, 0.36057919115761694, 0.25726830782149296, 0.041698746545457084, 0.06320787941826679, 0.10669215625949592, 0.9532047224148394], "count": [1118]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014311269856989384], "std": [0.11877061426639557], "count": [1118]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008944543828264759], "std": [0.029894051819442585], "count": [1118]}, "timestamp": {"min": [0.0], "max": [55.85], "mean": [27.924999999999997], "std": [16.136933568680266], "count": [1118]}, "frame_index": {"min": [0], "max": [1117], "mean": [558.5], "std": [322.7386713736053], "count": [1118]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [1118]}, "index": {"min": [109816], "max": [110933], "mean": [110374.5], "std": [322.7386713736053], "count": [1118]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1118]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2548821839412014]], [[0.25166939539946925]], [[0.2557635479123624]]], "std": [[[0.1887186160514287]], [[0.1681394187812086]], [[0.16341054578712813]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36351314421293024]], [[0.3207025353105819]], [[0.3019744607098482]]], "std": [[[0.20759729274512762]], [[0.21401909854538534]], [[0.231284669394856]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37599205348246734]], [[0.32335849721687054]], [[0.29715545025226636]]], "std": [[[0.20888303452916582]], [[0.21447036945107595]], [[0.2326052267141456]]], "count": [234]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1446]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1446]}, "observation.state": {"min": [0.805361899562269, -1.257653551149768, 0.6999968751129639, 0.0, 0.0, -1.0, 0.0, 0.12734677542196438, -0.4320793118170251, 0.224937724158206, -0.9907549619674683, -0.5064869523048401, -0.4348068833351135, 7.38468816052773e-06, 0.0009953226909958936, -0.041240677282756474], "max": [0.8471482218623877, -0.9325621085296212, 0.7082376586310577, 0.0, 0.0, 1.0, 0.0017447617137804627, 0.5316961610645181, 0.6381758859176951, 0.595914006659872, 0.9862794876098633, 0.508329451084137, 0.347466379404068, 0.1935204118490219, 0.04240164455358389, -0.0010550325356367227], "mean": [0.8158422286876121, -1.1837156136948317, 0.7041391833893674, 0.0, 0.0, 0.313969229349292, 0.0004314679560462373, 0.3026884141582783, 0.029003471861482923, 0.34985805599247144, 0.1247226665953218, 0.0002525699831143454, 0.02199278660582309, 0.07949961613109388, 0.02768598116886822, -0.031270235475595605], "std": [0.018022709728982504, 0.1339424229653805, 0.00239866923810739, 0.0, 0.0, 0.9494327987061003, 0.000712252540657785, 0.08286659954465204, 0.29226048648742786, 0.07792622537794852, 0.944091444865018, 0.16759581156019565, 0.236881666848568, 0.04615610112435759, 0.01383115540137365, 0.011747837726973893], "count": [1446]}, "action": {"min": [-0.4285714285714286, -0.45, -0.028571428571428574, 0.0, -1.0, -0.5642857142857142, -0.7785714285714286, -0.55, -0.18285714285714286, -0.26285714285714284, -0.35428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 0.5071428571428571, 0.9142857142857143, 0.7928571428571428, 0.2714285714285714, 0.1657142857142857, 0.31142857142857144, 1.0], "mean": [-0.0028798656392017385, -0.013964631495751834, -7.31080814068366e-05, 0.0, -0.8879668049792531, 0.016721003754198757, 0.005458407429361817, -0.014735230191661702, 0.003191068958703813, 0.0023849041691365314, 0.0008693934005137283, -0.15629322268326418], "std": [0.029514150781336863, 0.07067575979132402, 0.0012438422020642557, 0.0, 0.4599075485953011, 0.17747011867836687, 0.3313598138477177, 0.23248229353665137, 0.04835039542436164, 0.050183365311903386, 0.06255906914447273, 0.9877107008346532], "count": [1446]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0131396958604455], "std": [0.1138729378581047], "count": [1446]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006915629322268327], "std": [0.026288489362030723], "count": [1446]}, "timestamp": {"min": [0.0], "max": [72.25], "mean": [36.125], "std": [20.87120724027881], "count": [1446]}, "frame_index": {"min": [0], "max": [1445], "mean": [722.5], "std": [417.4241448055762], "count": [1446]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1446]}, "index": {"min": [110934], "max": [112379], "mean": [111656.5], "std": [417.4241448055762], "count": [1446]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1446]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4609199622076984]], [[0.37400398866993423]], [[0.3334482942496056]]], "std": [[[0.19565445740103318]], [[0.1657625918782872]], [[0.16920531898796626]]], "count": [221]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5627655037419733]], [[0.5124587128657583]], [[0.4695319401721821]]], "std": [[[0.20058829852823415]], [[0.2066494529408947]], [[0.21138478347289696]]], "count": [221]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5729183800482155]], [[0.5220258495989777]], [[0.47882586213417244]]], "std": [[[0.2020610157600815]], [[0.21083484604539426]], [[0.21730707672470048]]], "count": [221]}, "annotation.human.task_description": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1340]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1340]}, "observation.state": {"min": [4.549775254277472, -5.262218339972273, 0.6999961794146561, 0.0, 0.0, -0.013480396941304207, 0.9999091625213623, 0.033338182049226894, -0.44483284726011885, 0.2273336751683953, -0.9869078397750854, -0.465106338262558, -0.36809414625167847, 3.093052146141417e-05, 0.013033723345763056, -0.04003809968797461], "max": [4.869584859535838, -4.365007347057533, 0.7047953465009131, 0.0, 0.0, 0.0002744572120718658, 1.0, 0.5740860535042751, 0.20240141332901196, 0.6095949264356562, 0.9892727732658386, 0.37026044726371765, 0.4111340045928955, 0.17062965035438538, 0.04147412151499521, -0.010776540391228695], "mean": [4.808277066846405, -4.741934228220226, 0.7007974204183273, 0.0, 0.0, -0.006247625525035526, 0.9999696983330285, 0.26829377803072546, -0.10704782547854443, 0.408747746075427, -0.27179277574838095, 0.0018305493157301377, -0.02977814924861513, 0.047343683338522846, 0.031843788132211795, -0.029306025329009562], "std": [0.07080328629284918, 0.32227689912546026, 0.001297744532734117, 0.0, 0.0, 0.004649221857167902, 2.7190896707326084e-05, 0.127778983637605, 0.16882035389611127, 0.10772790068641186, 0.9122604839418434, 0.20357509811815028, 0.21982802737185098, 0.0317931192535511, 0.010028543721165338, 0.011423172396506741], "count": [1340]}, "action": {"min": [-0.9267857142857143, -0.75, -0.075, 0.0, -1.0, -1.0, -0.7232142857142858, -0.6053571428571428, -0.35571428571428576, -0.3985714285714286, -0.43071428571428577, -1.0], "max": [0.7821428571428571, 1.0, 0.047142857142857146, 0.0, 1.0, 0.6053571428571428, 0.7553571428571428, 1.0, 0.13071428571428573, 0.22714285714285717, 0.20357142857142857, 1.0], "mean": [-0.0007076226012793179, 0.01188965884861407, -0.00037899786780383796, 0.0, -0.7925373134328358, 0.020740938166311305, -0.009762793176972262, -0.015163912579957363, -0.00014872068230277193, 0.0009546908315565042, 0.0033805970149253825, -0.11641791044776119], "std": [0.13225999120925186, 0.15387018359813587, 0.005912402023370208, 0.0, 0.6098234226533719, 0.31294505812098744, 0.220391898214095, 0.30653270374287683, 0.03488439258337908, 0.05158348945625971, 0.06416707945594873, 0.9932003172205311], "count": [1340]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017910446971654892], "std": [0.13262604176998138], "count": [1340]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007462686567164179], "std": [0.02730772307989849], "count": [1340]}, "timestamp": {"min": [0.0], "max": [66.95], "mean": [33.475], "std": [19.341228632121588], "count": [1340]}, "frame_index": {"min": [0], "max": [1339], "mean": [669.5], "std": [386.8245726424318], "count": [1340]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1340]}, "index": {"min": [112380], "max": [113719], "mean": [113049.5], "std": [386.8245726424318], "count": [1340]}, "task_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1340]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4038158948348016]], [[0.31772451694606063]], [[0.27338308900678193]]], "std": [[[0.1693116900099849]], [[0.1534388865167287]], [[0.16343527023857654]]], "count": [224]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6062658782766647]], [[0.5048249827045687]], [[0.4340749492164419]]], "std": [[[0.2103712772747626]], [[0.22742838711436622]], [[0.22797186173101142]]], "count": [224]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6121151467331318]], [[0.5050011394404563]], [[0.43177491997470374]]], "std": [[[0.1990452384945677]], [[0.22431791734476225]], [[0.22951184804325778]]], "count": [224]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1367]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1367]}, "observation.state": {"min": [0.8189271117898179, -1.320853276554263, 0.6999965886091223, 0.0, 0.0, -1.0, 0.0, 0.22823832257986088, -0.7054063277245187, 0.2336830169191776, -0.9998885989189148, -0.39510577917099, -0.21350358426570892, 1.646936834731605e-05, 0.01325057006059418, -0.040220001408081026], "max": [0.8195230472598002, -1.3198727748928947, 0.7009726064183099, 0.0, 0.0, 1.0, 0.0006084805354475975, 0.5262256375411762, 0.5860221073560481, 0.5931750545745, 0.9979544878005981, 0.3289155066013336, 0.24764613807201385, 0.12816613912582397, 0.04000826531549767, -0.012809274924276465], "mean": [0.8191182087894185, -1.3202176697594843, 0.7002409438106147, 0.0, 0.0, -0.8478419547893744, 0.0003379443331667976, 0.37878969907220433, -0.17554488738005544, 0.33443064743915946, 0.08362478131173559, -0.05112703258121262, 0.010557839676827035, 0.03621593771687191, 0.029303472471172883, -0.029396137153942768], "std": [0.00021697639450773222, 0.0002902001899671394, 0.00034700839938076327, 0.0, 0.0, 0.5302489507396653, 0.00014778736822445613, 0.07873598454141364, 0.3872947849767215, 0.06673435420742152, 0.976155297953634, 0.16288100686866597, 0.09312416247159569, 0.029805389819937102, 0.01161099016885564, 0.011640974905743442], "count": [1367]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6142857142857143, -0.9071428571428573, -0.5142857142857143, -0.19142857142857142, -0.19428571428571428, -0.30285714285714294, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5642857142857142, 0.8571428571428572, 0.6285714285714287, 0.12, 0.2285714285714286, 0.1657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.021742083812310624, 0.015252377468909985, -0.020441007419793118, -0.002606332950151531, 0.001245689204723585, -0.0007231685651583222, -0.038771031455742504], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1630165810235478, 0.39044734282398186, 0.17030000780957416, 0.02960805891331448, 0.0463296025797176, 0.05658460850524242, 0.9992481208988436], "count": [1367]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011704462580382824], "std": [0.107552170753479], "count": [1367]}, "next.done": {"min": [false], "max": [true], "mean": [0.000731528895391368], "std": [0.027036896287602526], "count": [1367]}, "timestamp": {"min": [0.0], "max": [68.3], "mean": [34.15], "std": [19.730940170199695], "count": [1367]}, "frame_index": {"min": [0], "max": [1366], "mean": [683.0], "std": [394.6188034039939], "count": [1367]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [1367]}, "index": {"min": [113720], "max": [115086], "mean": [114403.0], "std": [394.6188034039939], "count": [1367]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1367]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2511006397874992]], [[0.24229103975147417]], [[0.24022364822941714]]], "std": [[[0.18070529139262814]], [[0.1710700830054045]], [[0.1678477051459146]]], "count": [263]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.366980291719379]], [[0.3468173226191766]], [[0.3278927897390242]]], "std": [[[0.20336254319676345]], [[0.19915341327994354]], [[0.1963186701845763]]], "count": [263]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.369682482084705]], [[0.35081666340490564]], [[0.33248998291725496]]], "std": [[[0.20719911777149597]], [[0.20408098343073916]], [[0.20183401922118077]]], "count": [263]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1686]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1686]}, "observation.state": {"min": [0.77256933037485, -3.8403817117485852, 0.699994944658945, 0.0, 0.0, -1.0, 0.0, 0.021761031263141217, -0.6639823421389388, 0.23125023318535032, -0.9994642734527588, -0.3823123276233673, -0.2896524965763092, 2.6329821594117675e-06, 0.01270948698720541, -0.04048944587044547], "max": [1.1173264828220117, -2.7461682203407545, 0.7009435673102536, 0.0, 0.0, 1.0, 0.029130350798368454, 0.4947953919829349, 0.5511721924592647, 0.5961745556465604, 0.9996310472488403, 0.5012678503990173, 0.23736315965652466, 0.1474783718585968, 0.04041136950321433, -0.011762845819187835], "mean": [0.7959311262070791, -3.2021980712463383, 0.7004397632520142, 0.0, 0.0, 0.20758546462828295, 0.0031444977635631992, 0.22758321640392204, -0.08914091324937025, 0.37303361645894867, 0.20657774010586993, 0.03060745932979339, 0.013711672974198013, 0.04138454310417451, 0.032625678548658214, -0.0320578573442881], "std": [0.06700693761228364, 0.37648978079155837, 0.0002846954132091189, 0.0, 0.0, 0.9782002349758225, 0.0047681475767329794, 0.10890496549791404, 0.3511353724035884, 0.09622465863537816, 0.9491728968886225, 0.17968333544755472, 0.14146285840917872, 0.03551195883044401, 0.010787978582181884, 0.01076833757827737], "count": [1686]}, "action": {"min": [-0.9, -0.9642857142857144, -0.2571428571428571, 0.0, -1.0, -0.7428571428571429, -0.8714285714285716, -0.5428571428571429, -0.13142857142857142, -0.3942857142857143, -0.25142857142857145, -1.0], "max": [0.5714285714285715, 1.0, 0.17714285714285713, 0.0, 1.0, 0.6857142857142858, 1.0, 0.5857142857142857, 0.15428571428571428, 0.24571428571428575, 0.2857142857142857, 1.0], "mean": [0.0053211320115234715, -0.011675987120826983, 0.00018640908320623705, 0.0, -0.7580071174377224, 0.011273512963904424, 0.01606083714624644, -0.011485341467547866, 0.00042196237925775233, 0.0011964073885782046, 0.0003914590747330943, -0.2431791221826809], "std": [0.10191510120668294, 0.16396461265972576, 0.02706813028456432, 0.0, 0.6522462801072488, 0.19232693420301675, 0.3538368793323999, 0.18945688652590495, 0.028623763792947596, 0.05282584561616561, 0.05512982586868341, 0.9699813990662182], "count": [1686]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01482799556106329], "std": [0.12086407840251923], "count": [1686]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005931198102016608], "std": [0.024346827700799278], "count": [1686]}, "timestamp": {"min": [0.0], "max": [84.25], "mean": [42.125], "std": [24.335309565868826], "count": [1686]}, "frame_index": {"min": [0], "max": [1685], "mean": [842.5], "std": [486.70619131737647], "count": [1686]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [1686]}, "index": {"min": [115087], "max": [116772], "mean": [115929.5], "std": [486.70619131737647], "count": [1686]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1686]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31233304195122596]], [[0.3002879108639469]], [[0.2971707062020503]]], "std": [[[0.1761818828780983]], [[0.1642505491806495]], [[0.16096447841192385]]], "count": [194]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4210419768392618]], [[0.3761073429993675]], [[0.34785609787971244]]], "std": [[[0.22997012062863284]], [[0.2230085132049832]], [[0.23189192914637707]]], "count": [194]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45002753182760696]], [[0.4072429409455067]], [[0.38032112345204877]]], "std": [[[0.22976688864380507]], [[0.22586437961566846]], [[0.23551370644094805]]], "count": [194]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1130]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1130]}, "observation.state": {"min": [2.346455788789143, -2.4553101072339656, 0.6999981351705341, 0.0, 0.0, -0.7186723947525024, 0.6953487396240234, 0.16763940736288285, -0.7229304999670525, 0.23277295192992076, -0.9922053813934326, -0.4964563846588135, -0.21994978189468384, 6.535398279083893e-05, 0.006038835999062427, -0.04078797642674279], "max": [3.805266590879349, -2.1796869466143547, 0.7010915887199056, 0.0, 0.0, -0.7054222226142883, 0.7087873816490173, 0.5002985708263283, 0.01423613172535898, 0.5857192679815285, 0.9969093203544617, 0.3677041232585907, 0.3003721535205841, 0.22406773269176483, 0.0401345259179123, -0.008764182214416643], "mean": [3.1583256808252007, -2.4055284573800417, 0.7007135299860066, 0.0, 0.0, -0.7084154749866081, 0.7057830507776378, 0.31852616563118813, -0.23708312772648255, 0.3820158801532925, 0.7039987106766321, 0.001259761824544552, 0.06504697891856766, 0.05578030197718516, 0.03012295440544603, -0.029306981164185876], "std": [0.4526442272829449, 0.06202107166488697, 0.0003331248916151009, 0.0, 0.0, 0.002965685432952782, 0.0030011709791837368, 0.09077566583653819, 0.16841823423853391, 0.09465249613840962, 0.6584619665136211, 0.20862125061949438, 0.13127671676861513, 0.0520875618820891, 0.013037662326162134, 0.012482057587800565], "count": [1130]}, "action": {"min": [-1.0, -1.0, -0.08857142857142856, 0.0, -1.0, -1.0, -0.8142857142857143, -0.5214285714285715, -0.18571428571428572, -0.21142857142857144, -0.3657142857142857, -1.0], "max": [0.7285714285714285, 1.0, 0.09142857142857143, 0.0, 1.0, 0.8214285714285715, 1.0, 0.8785714285714286, 0.19428571428571428, 0.2714285714285714, 0.3142857142857143, 1.0], "mean": [0.011782553729456389, 0.016504424778761066, -0.0008419721871049302, 0.0, -0.6566371681415929, 0.009544879898862204, -0.005423514538558767, -0.006409608091024035, -0.0019292035398230086, -0.001640960809102406, -0.0024348925410872246, -0.09557522123893805], "std": [0.1688230707594239, 0.2786639585513048, 0.010432187912349114, 0.0, 0.7542066224947839, 0.2727936771648635, 0.2826627918608127, 0.26504811037680054, 0.03505518817192545, 0.051125406182458956, 0.09909652620554803, 0.9954222104640428], "count": [1130]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014159291982650757], "std": [0.11814738810062408], "count": [1130]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008849557522123894], "std": [0.0297350400290468], "count": [1130]}, "timestamp": {"min": [0.0], "max": [56.45], "mean": [28.225], "std": [16.310138717987655], "count": [1130]}, "frame_index": {"min": [0], "max": [1129], "mean": [564.5], "std": [326.2027743597531], "count": [1130]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [1130]}, "index": {"min": [116773], "max": [117902], "mean": [117337.5], "std": [326.2027743597531], "count": [1130]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1130]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6023594247452939]], [[0.6032050857398321]], [[0.596892043879395]]], "std": [[[0.3054278123624577]], [[0.3084282799124381]], [[0.3105360890015374]]], "count": [226]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5319420889477628]], [[0.5054565975117059]], [[0.4969734179979808]]], "std": [[[0.2517364980826189]], [[0.2702299478085184]], [[0.27507436987080053]]], "count": [226]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5265844434784163]], [[0.5023358576872397]], [[0.4946353272268099]]], "std": [[[0.24940955085414415]], [[0.26626473719641]], [[0.27042076402839427]]], "count": [226]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1380]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1380]}, "observation.state": {"min": [2.643530658313721, -1.7396404148132025, 0.6999978711901922, 0.0, 0.0, -0.7260465621948242, 0.6876454949378967, 0.2215637752498001, -0.6972570467579033, 0.22770637820985296, -0.9972200393676758, -0.607537031173706, -0.2339460551738739, 6.071206371416338e-05, 0.009767786466759855, -0.04019210614023676], "max": [3.146762334858889, -1.7015618719447485, 0.702281610592111, 0.0, 0.0, -0.6957777142524719, 0.7182572484016418, 0.5514873605305342, 0.7900948647558956, 0.5923239633182921, 0.999975323677063, 0.5475999712944031, 0.1034480556845665, 0.22586920857429504, 0.04025280641834649, -0.013356186936933028], "mean": [3.0384786618527047, -1.7308991574025752, 0.7012468313065031, 0.0, 0.0, -0.7104997988196387, 0.7036110709110895, 0.3495742954635956, 0.07454086432487335, 0.35406132854875544, -0.38250365879224696, -0.05032070346169876, -0.02682448438690501, 0.06363206901419091, 0.031053799872542767, -0.03144235674436507], "std": [0.2023010096684542, 0.015377843796338457, 0.0007659665730886861, 0.0, 0.0, 0.007695874600473024, 0.007890600074106876, 0.08500590397886323, 0.4390230020043359, 0.08662009621978801, 0.8611705573159307, 0.3106606583673646, 0.07112342965826447, 0.05662925982027608, 0.01145912111244795, 0.011117305180194062], "count": [1380]}, "action": {"min": [-0.40714285714285714, -0.7785714285714286, -0.14, 0.0, -1.0, -0.5642857142857142, -1.0, -0.55, -0.14857142857142858, -0.11714285714285716, -0.16285714285714287, -1.0], "max": [0.16428571428571428, 0.0, 0.10571428571428572, 0.0, 1.0, 0.6714285714285714, 0.942857142857143, 0.7214285714285715, 0.1457142857142857, 0.12857142857142856, 0.2742857142857143, 1.0], "mean": [-0.002763975155279503, -0.014425465838509314, -0.0011035196687370602, 0.0, -0.9376811594202898, 0.019668737060041422, 0.015812629399585925, -0.02595755693581785, -0.00039544513457556946, -9.730848861283541e-05, 0.0058964803312629415, -0.15507246376811595], "std": [0.03162941964340138, 0.08676386201277923, 0.015362549177091718, 0.0, 0.3474968248318534, 0.17148121084978038, 0.39400931827424285, 0.22009602036574968, 0.023628366452824314, 0.024244075774239676, 0.06298530076475797, 0.9879030979710907], "count": [1380]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01304347813129425], "std": [0.11346075683832169], "count": [1380]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007246376811594203], "std": [0.026909340040039337], "count": [1380]}, "timestamp": {"min": [0.0], "max": [68.95], "mean": [34.475], "std": [19.918579057419397], "count": [1380]}, "frame_index": {"min": [0], "max": [1379], "mean": [689.5], "std": [398.371581148388], "count": [1380]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [1380]}, "index": {"min": [117903], "max": [119282], "mean": [118592.5], "std": [398.371581148388], "count": [1380]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1380]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44402757305442997]], [[0.4342803792094187]], [[0.4291254571094078]]], "std": [[[0.24947134902061177]], [[0.24829008463609398]], [[0.24995648504253937]]], "count": [257]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.00784313725490196]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6535305776120942]], [[0.6460585366218016]], [[0.6175732729681808]]], "std": [[[0.30490938641641935]], [[0.2879829325673637]], [[0.2601032263427752]]], "count": [257]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.054901960784313725]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6551420871149333]], [[0.6486591749190557]], [[0.6214553897037217]]], "std": [[[0.29658989274199515]], [[0.27927618741108534]], [[0.2519149556082519]]], "count": [257]}, "annotation.human.task_description": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1638]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1638]}, "observation.state": {"min": [0.10141144721558086, -4.2482518744261455, 0.6999957604176749, 0.0, 0.0, -1.0, 7.622793418704532e-08, 0.1506747020570901, -0.6687959121639033, 0.23042938276495362, -0.9996121525764465, -0.5040615797042847, -0.27391791343688965, 2.8945385111001087e-06, 0.009129356233456723, -0.040049688937707356], "max": [0.17629273979255738, -3.5523335124861974, 0.7034666137342366, 0.0, 0.0, 1.0, 0.009170155972242355, 0.5303281042076187, 0.7469480065730174, 0.6033229440662844, 0.9986792206764221, 0.3624889552593231, 0.3643674850463867, 0.20577046275138855, 0.04008775826352145, -0.010334076705316534], "mean": [0.13479016607359834, -4.096259076710631, 0.7017802248817469, 0.0, 0.0, 0.885219829859751, 0.0029092168920337893, 0.319905555435937, -0.007978205897277647, 0.3207412315448005, -0.5119070735679295, -0.047271810525457425, 0.0381732348190724, 0.039687923265652125, 0.031187461650179608, -0.03198516072132482], "std": [0.020365491360876745, 0.22321722769053226, 0.0008533554629075463, 0.0, 0.0, 0.4651599059476891, 0.0019238624183255785, 0.09158980777566256, 0.4042430492007275, 0.060512823146391816, 0.8229429402760641, 0.20810461853553835, 0.10383250561079609, 0.0368835361540636, 0.011326829949607773, 0.011065983759953263], "count": [1638]}, "action": {"min": [-0.37142857142857144, -0.8571428571428572, -0.06857142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.23428571428571432, -0.8971428571428571, -0.3171428571428571, -1.0], "max": [0.5642857142857142, 0.6785714285714286, 0.0, 0.0, 1.0, 0.5857142857142857, 1.0, 1.0, 0.29428571428571426, 0.9371428571428573, 0.2857142857142857, 1.0], "mean": [0.004622361765218909, -0.004796790511076224, -0.00019710448281876853, 0.0, -0.8986568986568987, 0.006244549101691949, 0.013138845281702448, -0.027306820163962967, 0.0038182452468166783, 0.007767312053026332, 0.0030019187162044353, -0.23931623931623933], "std": [0.055317084732130414, 0.11428834353187647, 0.003222114440583152, 0.0, 0.43865222955818783, 0.16085924745129387, 0.3850516452551451, 0.17360893359964036, 0.04510924675112927, 0.10905382874286614, 0.06488517503909084, 0.9709416756940383], "count": [1638]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021978022530674934], "std": [0.14661170542240143], "count": [1638]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006105006105006105], "std": [0.024700767184546897], "count": [1638]}, "timestamp": {"min": [0.0], "max": [81.85], "mean": [40.925], "std": [23.642489117406118], "count": [1638]}, "frame_index": {"min": [0], "max": [1637], "mean": [818.5], "std": [472.84978234812235], "count": [1638]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1638]}, "index": {"min": [119283], "max": [120920], "mean": [120101.5], "std": [472.84978234812235], "count": [1638]}, "task_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1638]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4808499992874417]], [[0.4507190220308164]], [[0.4242689126242327]]], "std": [[[0.27194243470985047]], [[0.26506830511223034]], [[0.25660195339858993]]], "count": [348]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6287023245549455]], [[0.6474827300220667]], [[0.6238766738791871]]], "std": [[[0.1877270660355858]], [[0.18369673808625436]], [[0.17937932121803737]]], "count": [348]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6009886342070784]], [[0.623508855558769]], [[0.6019971847964053]]], "std": [[[0.2019980912880772]], [[0.20340751120890987]], [[0.19925537965873463]]], "count": [348]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2448]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [2448]}, "observation.state": {"min": [2.7629958767375484, -0.7834147391211358, 0.6999990265174564, 0.0, 0.0, 0.7070505619049072, 0.707058310508728, 0.14355047806466115, -0.7321063522947577, 0.2290996936686045, -0.9936496615409851, -0.9234745502471924, -0.37634965777397156, 4.330182491685264e-06, 0.012299636883010053, -0.04043468100230707], "max": [2.7631135982185517, -0.7833445384191978, 0.7040196781643637, 0.0, 0.0, 0.7071552276611328, 0.7071629166603088, 0.5550655310988215, 0.7765791025994189, 0.7040561129220646, 0.9731050729751587, 0.9816313982009888, 0.28261032700538635, 0.4653659164905548, 0.04065783594724559, -0.008412918159059174], "mean": [2.7630380930170473, -0.7833586922365342, 0.70077684221845, 0.0, 0.0, 0.7071048474438439, 0.7071086657203101, 0.2920877457066756, 0.08077192569113929, 0.41253342921232045, -0.26616320661366377, 0.46101384467195744, -0.02854711715051701, 0.14189459516731276, 0.03299707302007592, -0.033099321087538075], "std": [5.622763777282719e-06, 6.3841830430571995e-06, 0.0010831868356333703, 0.0, 0.0, 5.833825752089472e-06, 5.833993503008958e-06, 0.09458618073357876, 0.39710328540287637, 0.10516155173206403, 0.6366736696670933, 0.5034337913190042, 0.1502853661627413, 0.11953970216386768, 0.010302956777085532, 0.009529026331884544], "count": [2448]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5642857142857142, -0.7214285714285715, -0.4285714285714286, -0.2014285714285714, -0.25285714285714284, -0.1657142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4035714285714285, 0.725, 0.9928571428571428, 0.18, 0.19857142857142857, 0.40714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.007878151260504203, 0.0010927287581699754, -0.009691584967320232, -2.684407096171782e-05, -0.005899276377217555, 0.010140056022408955, -0.2181372549019608], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14912267881901412, 0.25298755775380466, 0.19597347575925309, 0.03856832836320288, 0.04286097429352453, 0.06694055427974609, 0.9759181000595396], "count": [2448]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014297385700047016], "std": [0.11871381849050522], "count": [2448]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004084967320261438], "std": [0.02020717353926738], "count": [2448]}, "timestamp": {"min": [0.0], "max": [122.35], "mean": [61.17500000000001], "std": [35.33383352633375], "count": [2448]}, "frame_index": {"min": [0], "max": [2447], "mean": [1223.5], "std": [706.6766705266749], "count": [2448]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [2448]}, "index": {"min": [120921], "max": [123368], "mean": [122144.5], "std": [706.6766705266749], "count": [2448]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2448]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2820007169082187]], [[0.2580835579267514]], [[0.2543974666553905]]], "std": [[[0.2058627469473432]], [[0.19150449847920092]], [[0.18581511568918965]]], "count": [270]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38734277862349364]], [[0.3602686322557814]], [[0.34048334835055255]]], "std": [[[0.20355196393186475]], [[0.1994886757365273]], [[0.196878199347129]]], "count": [270]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3924611837238874]], [[0.3649340895664545]], [[0.34575780864374833]]], "std": [[[0.20485769354671868]], [[0.20222537245973113]], [[0.20110458984475335]]], "count": [270]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1749]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1749]}, "observation.state": {"min": [4.33979491807155, -2.5270451196842663, 0.6999986550223845, 0.0, 0.0, -4.8836540372576565e-05, 0.998916506767273, 0.06931817893531012, -0.724469465204054, 0.22967745638582282, -0.9918652772903442, -0.5696834325790405, -0.3227786421775818, 0.0001155293284682557, 0.0025622658925317614, -0.04065495961694054], "max": [4.390782287312014, -1.9138343190058384, 0.7038138197461128, 0.0, 0.0, 0.046539437025785446, 1.0, 0.7355309087190216, 0.6786970412659274, 0.5866693185842754, 0.9887691736221313, 0.5811559557914734, 0.37127602100372314, 0.2594504952430725, 0.040774496823279806, -0.0036339585189896694], "mean": [4.364011929746501, -2.2350814928077196, 0.7019909830007637, 0.0, 0.0, 0.023255046692319113, 0.9994684953973114, 0.30377809523605287, -0.11006793727587692, 0.3447651374003333, 0.005628563118635279, 0.0194208763918923, 0.02382456552580195, 0.10751913693623222, 0.03349240536790872, -0.03367293850967764], "std": [0.025103342124955783, 0.28930527596931505, 0.0011043314283629877, 0.0, 0.0, 0.022839868458056047, 0.0005348890426034661, 0.11853716752215808, 0.30528874447408955, 0.07966709233070474, 0.9350642438661706, 0.24417705727880448, 0.22328611516065794, 0.060323366146746764, 0.009215301942190163, 0.009720030847656765], "count": [1749]}, "action": {"min": [-0.39285714285714285, -0.5071428571428571, 0.0, 0.0, -1.0, -0.6714285714285714, -0.7428571428571429, -0.4928571428571429, -0.26, -0.2285714285714286, -0.32571428571428573, -1.0], "max": [0.0, 0.35000000000000003, 0.04285714285714286, 0.0, 1.0, 0.5642857142857142, 0.95, 0.8571428571428572, 0.27714285714285714, 0.18857142857142858, 0.22, 1.0], "mean": [-0.007555337744016991, -0.016217430368373767, 0.0014653271257044852, 0.0, -0.8662092624356775, 0.022621089602221672, 0.006477170628114009, -0.014155027362574553, -0.0012839990198480783, 0.0005962590868251272, 0.000957281711998691, -0.2109777015437393], "std": [0.03669651819721086, 0.08958218063838283, 0.007043401548124835, 0.0, 0.49968141217243234, 0.1795399894685753, 0.3040790763873952, 0.18941883286828298, 0.06043566608276331, 0.04535855774105799, 0.05979204427979889, 0.9774908743570648], "count": [1749]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01029159501194954], "std": [0.10092411935329437], "count": [1749]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005717552887364208], "std": [0.023904568279436104], "count": [1749]}, "timestamp": {"min": [0.0], "max": [87.4], "mean": [43.7], "std": [25.244636394027676], "count": [1749]}, "frame_index": {"min": [0], "max": [1748], "mean": [874.0], "std": [504.89272788055354], "count": [1749]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [1749]}, "index": {"min": [123369], "max": [125117], "mean": [124243.0], "std": [504.89272788055354], "count": [1749]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1749]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5191009202154514]], [[0.5162965524250566]], [[0.5162642362430625]]], "std": [[[0.25441573577333615]], [[0.24596252421797768]], [[0.24709081597516]]], "count": [208]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.050980392156862744]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39970502896546234]], [[0.4438523552896031]], [[0.4532820967707339]]], "std": [[[0.2588846031984773]], [[0.22192412870858605]], [[0.2167837537679238]]], "count": [208]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3969228146122951]], [[0.44373882834548145]], [[0.4539716243024685]]], "std": [[[0.26275631546604666]], [[0.22403672472945108]], [[0.21858576246144304]]], "count": [208]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1239]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1239]}, "observation.state": {"min": [2.2527167609556695, -0.7938949225370533, 0.6999983079656199, 0.0, 0.0, 0.7050611972808838, 0.7038753628730774, -0.004695468524738677, -0.47738193041611954, 0.23354350479234698, -0.9942770600318909, -0.3777835965156555, -0.3580717444419861, 7.4699979450088e-05, 0.009688886092021131, -0.04055652543566561], "max": [3.1604070275364005, -0.7470670170383962, 0.7029592091084609, 0.0, 0.0, 0.7103235721588135, 0.7091464996337891, 0.5067530195608966, 0.2653119075599655, 0.5949743221981189, 0.9831984639167786, 0.39368993043899536, 0.3492889702320099, 0.13939344882965088, 0.040851224923723076, -0.009085548543944985], "mean": [2.6662714730047785, -0.771067765549243, 0.7014027833235583, 0.0, 0.0, 0.7079663989137891, 0.706241656927643, 0.24854683581185608, -0.11202402184713402, 0.39837280139952247, -0.3701091391892083, 0.030104230268526884, -0.04254618436068032, 0.045699835559501925, 0.03051070526438557, -0.030458176348009926], "std": [0.438703777434499, 0.020900565193849415, 0.0010661526236512861, 0.0, 0.0, 0.0017716032982414973, 0.0017768864579240868, 0.13131688946276615, 0.18425781021540494, 0.1112934003868677, 0.8812385953777041, 0.20237847991203434, 0.1987240974907472, 0.03441697217442872, 0.012085946555433946, 0.01227813581960406], "count": [1239]}, "action": {"min": [-0.4875000000000001, -0.9482142857142856, -0.015000000000000001, 0.0, -1.0, -0.9160714285714286, -0.8517857142857143, -0.6053571428571428, -0.135, -0.18857142857142858, -0.19714285714285715, -1.0], "max": [0.4285714285714286, 0.8142857142857143, 0.017142857142857144, 0.0, 1.0, 0.6482142857142857, 0.8839285714285714, 1.0, 0.1457142857142857, 0.15857142857142859, 0.17571428571428574, 1.0], "mean": [-0.002027845036319614, -0.0074195780006917995, 0.00016776202006226217, 0.0, -0.8466505246166263, 0.011332583881010036, 0.00421566931857494, -0.015917214343364506, -0.002417848495330334, -0.0048166724316845416, 0.004296091317883086, -0.16707021791767554], "std": [0.0475004979437365, 0.16418196013316425, 0.0018856399671671115, 0.0, 0.5321493109705064, 0.2899894114676676, 0.2825098816839181, 0.3020473069635625, 0.025861635046415424, 0.049348910928906184, 0.045395103407663215, 0.9859449996246852], "count": [1239]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02098466455936432], "std": [0.14333286881446838], "count": [1239]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008071025020177562], "std": [0.028398082462888104], "count": [1239]}, "timestamp": {"min": [0.0], "max": [61.9], "mean": [30.950000000000003], "std": [17.883418763387123], "count": [1239]}, "frame_index": {"min": [0], "max": [1238], "mean": [619.0], "std": [357.6683752677425], "count": [1239]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1239]}, "index": {"min": [125118], "max": [126356], "mean": [125737.0], "std": [357.6683752677425], "count": [1239]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1239]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5427459570779755]], [[0.5367246490916567]], [[0.5290374950548868]]], "std": [[[0.3360094972054677]], [[0.33402462734244515]], [[0.33201885682871524]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5056386331890523]], [[0.44537970624058165]], [[0.42274251405154245]]], "std": [[[0.26374388335240084]], [[0.2901333861639246]], [[0.3012449804374108]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5198726987243761]], [[0.4648934379081608]], [[0.44358010936693754]]], "std": [[[0.26509169661980486]], [[0.2920200248434904]], [[0.3037410402808371]]], "count": [209]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1247]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1247]}, "observation.state": {"min": [2.351543824060888, -1.769955487164462, 0.6999967672604364, 0.0, 0.0, -0.7162973880767822, 0.6977952122688293, 0.18463637214604378, -0.5890966859920437, 0.2274965616938892, -0.999721348285675, -0.6162700653076172, -0.25515857338905334, 2.3514391500611964e-07, 0.009571312367347814, -0.040035237134454456], "max": [3.9488892057315805, -1.6477928653338223, 0.702026409633768, 0.0, 0.0, -0.6917102932929993, 0.7221750617027283, 0.5984482832804425, 0.009599824317460204, 0.5781540016473722, 0.9997230172157288, 0.6165334582328796, 0.18214891850948334, 0.07845351845026016, 0.0405683035352766, -0.008538367019062328], "mean": [3.0447499290736655, -1.7159657920468183, 0.7008107573905489, 0.0, 0.0, -0.7053621997332324, 0.7088101858029675, 0.33191567692849716, -0.22917186155633829, 0.3353751699715602, -0.3043669420619344, 0.04968560036531715, -0.027900031399898953, 0.01423246670336125, 0.029675087231796037, -0.028947629114247298], "std": [0.41183662787955133, 0.027923167776090246, 0.0005992788391737608, 0.0, 0.0, 0.005141855429880512, 0.00508458576542961, 0.1076221017184291, 0.17859969832475414, 0.07837639851235315, 0.8729098635393066, 0.3654056011519619, 0.09049221427482564, 0.015146166297837988, 0.012545430899504115, 0.012932965475820074], "count": [1247]}, "action": {"min": [-0.55, -0.9642857142857144, -0.11714285714285716, 0.0, -1.0, -0.6, -1.0, -0.6, -0.10857142857142858, -0.3914285714285714, -0.24571428571428575, -1.0], "max": [0.6, 1.0, 0.08571428571428572, 0.0, 1.0, 0.8714285714285716, 0.9571428571428572, 0.7071428571428572, 0.11714285714285716, 0.29428571428571426, 0.34285714285714286, 1.0], "mean": [0.006323748424790929, -0.0032134265093366953, -0.0006346660556764811, 0.0, -0.6920609462710505, 0.019721617596517353, 0.0013976400504066963, -0.0196127849696414, 0.0007056936647955091, 0.003539924389964484, -0.008924275403826313, -0.2269446672012831], "std": [0.10423196706118129, 0.24593387576465991, 0.011968424032726965, 0.0, 0.7218390725407067, 0.22530810595775186, 0.2418396549272156, 0.22744510118602826, 0.0166480556833033, 0.05562944834238981, 0.0755950154665724, 0.9739076537479922], "count": [1247]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020850040018558502], "std": [0.14288216829299927], "count": [1247]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008019246190858059], "std": [0.02830691675176069], "count": [1247]}, "timestamp": {"min": [0.0], "max": [62.3], "mean": [31.150000000000002], "std": [17.99888885459322], "count": [1247]}, "frame_index": {"min": [0], "max": [1246], "mean": [623.0], "std": [359.97777709186437], "count": [1247]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1247]}, "index": {"min": [126357], "max": [127603], "mean": [126980.0], "std": [359.97777709186437], "count": [1247]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1247]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4514353792736038]], [[0.4420463291121717]], [[0.44106065581321213]]], "std": [[[0.2917776343899399]], [[0.29959726974272716]], [[0.30752992091215514]]], "count": [222]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6146054349925235]], [[0.5212350906994713]], [[0.4579300840506177]]], "std": [[[0.2614142704510128]], [[0.2891025708612168]], [[0.2952823631299253]]], "count": [222]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5899261922049577]], [[0.5059824973360596]], [[0.4425949908001982]]], "std": [[[0.29511647150214687]], [[0.2989470783439482]], [[0.28977798337792776]]], "count": [222]}, "annotation.human.task_description": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1345]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1345]}, "observation.state": {"min": [0.7731746571809016, -3.586939225940939, 0.6999945755176363, 0.0, 0.0, -1.0, 8.497946168972703e-08, 0.22604363476976175, -0.7745291281821958, 0.23361701522500777, -0.9997631907463074, -0.2909705340862274, -0.2035737931728363, 6.054177447367692e-06, 0.014404073085846769, -0.04044287415402287], "max": [0.828857992586703, -3.1956750651162538, 0.7015670643985014, 0.0, 0.0, 1.0, 0.02039029635488987, 0.544961422964557, 0.5998728187787874, 0.5936956000855969, 0.9997214674949646, 0.5889607071876526, 0.20325039327144623, 0.1693997085094452, 0.04007795334075974, -0.015410150349245302], "mean": [0.7791416624591254, -3.3910899532007766, 0.7007339580326583, 0.0, 0.0, 0.05723365124273477, 0.004140408390005324, 0.34617621260631753, -0.024260107105428728, 0.3219888852003551, -0.42373671252488204, 0.04648035520680775, -0.005480681021970762, 0.04956701631981661, 0.031970234639038766, -0.031631100121790906], "std": [0.006095958645682445, 0.1945365353059988, 0.0005843010254982577, 0.0, 0.0, 0.9983450394683944, 0.003795260080935431, 0.07711745179180349, 0.3879243085554683, 0.06651002627251364, 0.8730690138117648, 0.2224545855873575, 0.04976615144530214, 0.03984510817278742, 0.00969410088277873, 0.009631517362695694], "count": [1345]}, "action": {"min": [-0.5642857142857142, -0.02857142857142857, -0.18571428571428572, 0.0, -1.0, -0.6857142857142858, -1.0, -0.5071428571428571, -0.23428571428571432, -0.3914285714285714, -0.44857142857142857, -1.0], "max": [0.45, 1.0, 0.05428571428571429, 0.0, 1.0, 0.5428571428571429, 1.0, 0.75, 0.16857142857142857, 0.2914285714285714, 0.32, 1.0], "mean": [0.00382899628252788, 0.009028146574614971, -0.0005501858736059485, 0.0, -0.9315985130111524, 0.012092405735528397, -0.013250132766861416, -0.010844397238449306, -0.001217206585236326, 0.0017865108868826362, -0.002568242166755177, -0.17472118959107807], "std": [0.05217247615224725, 0.08685191699522732, 0.011034393376769001, 0.0, 0.36348894144857474, 0.1527230742674055, 0.4212096845811688, 0.16835758370985554, 0.03775257468498452, 0.0577783642069391, 0.09189889148647376, 0.9846179492107029], "count": [1345]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01189591083675623], "std": [0.10841770470142365], "count": [1345]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007434944237918215], "std": [0.027256955806428784], "count": [1345]}, "timestamp": {"min": [0.0], "max": [67.2], "mean": [33.6], "std": [19.4133974357916], "count": [1345]}, "frame_index": {"min": [0], "max": [1344], "mean": [672.0], "std": [388.26794871583206], "count": [1345]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [1345]}, "index": {"min": [127604], "max": [128948], "mean": [128276.0], "std": [388.26794871583206], "count": [1345]}, "task_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1345]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5599666593735528]], [[0.5194561070474687]], [[0.49047985964484075]]], "std": [[[0.23033472668346727]], [[0.23000169107584115]], [[0.21056463210167187]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6328643536862829]], [[0.547975788924756]], [[0.46247269025585286]]], "std": [[[0.17507351704055207]], [[0.20068851079155134]], [[0.2320299989727126]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6116841769233525]], [[0.5285231025925365]], [[0.4453374724622082]]], "std": [[[0.18729553680236644]], [[0.20397088180077755]], [[0.2307438096900653]]], "count": [217]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1309]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1309]}, "observation.state": {"min": [0.7501526326271561, -2.6585987306234107, 0.6999962263312234, 0.0, 0.0, -1.0, 9.505984621682728e-07, 0.09746969860346522, -0.5645823863515589, 0.22755220628451045, -0.9999992847442627, -0.5162525177001953, -0.18382135033607483, 1.1789184100052807e-05, 0.013928048017745328, -0.04007474481984455], "max": [0.7779467172274033, -2.2088035399505928, 0.7037490190511171, 0.0, 0.0, 1.0, 0.0046469769440591335, 0.39069500285939907, 0.49551785899631007, 0.6001209359554374, 0.9999483823776245, 0.3219089210033417, 0.15034686028957367, 0.13965700566768646, 0.041250145106380066, -0.011375238136522962], "mean": [0.759221201331128, -2.53351931728036, 0.7021679886413692, 0.0, 0.0, 0.960273330679734, 0.001607492627824372, 0.25200405091757144, -0.0521694002460598, 0.3430315352585621, 0.3086149493094343, -0.03771237199537305, 0.003213726011004786, 0.04466379266357025, 0.03342965743702126, -0.033255124764151836], "std": [0.011425582280578541, 0.19863939096411687, 0.0013685419904067128, 0.0, 0.0, 0.2790551084520468, 0.0009190958366364717, 0.06937002534159183, 0.3082177970939677, 0.0833751946410135, 0.9228216397580022, 0.20871288941578406, 0.07272912088960036, 0.029648498730000254, 0.00952437023625987, 0.009279576532845505], "count": [1309]}, "action": {"min": [-0.14285714285714288, 0.0, -0.014285714285714287, 0.0, -1.0, -0.6928571428571428, -1.0, -0.6071428571428572, -0.1657142857142857, -0.2057142857142857, -0.24, -1.0], "max": [0.41428571428571426, 0.8857142857142857, 0.0, 0.0, 1.0, 0.7285714285714285, 0.9214285714285714, 0.7142857142857143, 0.1657142857142857, 0.2571428571428571, 0.2057142857142857, 1.0], "mean": [0.00436538251664302, 0.013276219578740586, -0.00010258648914111101, 0.0, -0.9159663865546218, 0.012823311142638854, -0.02697260722470806, -0.01940958201462407, 0.0014864127469169492, 0.003507584852122666, -0.0030383062315835455, -0.12299465240641712], "std": [0.04117486448837096, 0.0896276556239819, 0.001086555020795312, 0.0, 0.4012550045819554, 0.1857603610850376, 0.3564022341612044, 0.1981166898673432, 0.025211932922635523, 0.041667295423343784, 0.05500643004257018, 0.9924073334470318], "count": [1309]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01604278013110161], "std": [0.12564000487327576], "count": [1309]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007639419404125286], "std": [0.027628940137547936], "count": [1309]}, "timestamp": {"min": [0.0], "max": [65.4], "mean": [32.7], "std": [18.89378204595364], "count": [1309]}, "frame_index": {"min": [0], "max": [1308], "mean": [654.0], "std": [377.87564091907274], "count": [1309]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [1309]}, "index": {"min": [128949], "max": [130257], "mean": [129603.0], "std": [377.87564091907274], "count": [1309]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1309]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42847325298672057]], [[0.408349378385952]], [[0.39720161819216726]]], "std": [[[0.25691986976965986]], [[0.26136145926170656]], [[0.2671174292952041]]], "count": [186]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40221218854697877]], [[0.40235367384284654]], [[0.4011141682736813]]], "std": [[[0.22706510919265943]], [[0.2238469042029743]], [[0.22285261256675482]]], "count": [186]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42550896699484353]], [[0.42486899736031636]], [[0.42335350588356774]]], "std": [[[0.2243881295647014]], [[0.22086831602875484]], [[0.219869025684589]]], "count": [186]}, "annotation.human.task_description": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1062]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1062]}, "observation.state": {"min": [0.8050487917265516, -1.2486989682462226, 0.6999989904121142, 0.0, 0.0, -1.0, 0.0, 0.1607056486268431, -0.5290348564055027, 0.2281341831187068, -0.9933481812477112, -0.25831297039985657, -0.39388763904571533, 1.6396135833929293e-05, 0.0030989670170215597, -0.0409812956610058], "max": [0.8052186670153688, -1.248401609337856, 0.709887863863166, 0.0, 0.0, 1.0, 0.0002033096825471148, 0.5733849674453191, 0.5929972341432279, 0.5908593527256298, 0.9938303232192993, 0.5949053168296814, 0.39420199394226074, 0.3095211386680603, 0.04066001186904435, -0.010966612624670245], "mean": [0.8050636621265357, -1.2484684667047918, 0.7042808736893809, 0.0, 0.0, -0.16760828625235405, 1.1869680292483873e-05, 0.3674800131528838, 0.0046262216174634985, 0.3230607766807725, 0.06661350713611322, 0.059979231091542434, 0.024631277771062426, 0.09214022157356735, 0.030092616509520186, -0.029543806837301474], "std": [1.968157004115731e-05, 2.658557170506131e-05, 0.003364648919657662, 0.0, 0.0, 0.9858536718902814, 2.4198059827608123e-05, 0.10776093586838013, 0.2808521404578284, 0.07187518446344834, 0.9459237012239768, 0.214665944775017, 0.19296022640104007, 0.06915090826553928, 0.011461013187188953, 0.011544891510278408], "count": [1062]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8285714285714285, -0.8571428571428572, -0.6642857142857144, -0.21142857142857144, -0.19714285714285715, -0.3457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6285714285714287, 0.9357142857142857, 0.9, 0.24, 0.2257142857142857, 0.22, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.013525692762980884, 0.001452784503631945, -0.0339386602098466, 0.0006725854183481291, -0.00032015065913370845, -0.008299704062415925, -0.08286252354048965], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22220599296179128, 0.37782577846486814, 0.26654182236300544, 0.05757471655411025, 0.055292177035003796, 0.06903492101873591, 0.9965609876934376], "count": [1062]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015065913088619709], "std": [0.12181514501571655], "count": [1062]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009416195856873823], "std": [0.03067137000923226], "count": [1062]}, "timestamp": {"min": [0.0], "max": [53.05], "mean": [26.525000000000002], "std": [15.328642851429041], "count": [1062]}, "frame_index": {"min": [0], "max": [1061], "mean": [530.5], "std": [306.57285702858087], "count": [1062]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [1062]}, "index": {"min": [130258], "max": [131319], "mean": [130788.5], "std": [306.57285702858087], "count": [1062]}, "task_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1062]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4919319604524721]], [[0.48245446077873655]], [[0.46631538134040595]]], "std": [[[0.30703630809653853]], [[0.30227826424662146]], [[0.2901874674702172]]], "count": [206]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.557280097524257]], [[0.5481769319944965]], [[0.5329313192870443]]], "std": [[[0.23509922509745643]], [[0.23399826017382336]], [[0.22715161089180919]]], "count": [206]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5994285538472064]], [[0.5896826548914943]], [[0.571572432417246]]], "std": [[[0.21560180385967906]], [[0.2153114860778095]], [[0.2095075116406201]]], "count": [206]}, "annotation.human.task_description": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1217]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1217]}, "observation.state": {"min": [2.5662624944779187, -1.7384042765661152, 0.6999973175153084, 0.0, 0.0, -0.707207977771759, 0.7070056200027466, 0.14389517216893544, -0.46593116842052806, 0.22639399721772335, -0.9977341890335083, -0.5994998216629028, -0.429941862821579, 2.9351014745770954e-05, 0.0010896134273160403, -0.04202229693473216], "max": [3.0209616156528303, -1.681079890230992, 0.7074981919441111, 0.0, 0.0, -0.7063550353050232, 0.7078577876091003, 0.6950171951561881, 0.7489078249147099, 0.6025893684248592, 0.9981594085693359, 0.6388920545578003, 0.28649675846099854, 0.277984619140625, 0.040478896764696376, -0.007902957024320444], "mean": [2.700362530044685, -1.6977893327837834, 0.7034042210236293, 0.0, 0.0, -0.7068338192381032, 0.7073795979593068, 0.3826917719564854, 0.05009318508172042, 0.35028646523493145, -0.2091731514319496, 0.04653089040478626, -0.05925784737477878, 0.06829891490241553, 0.028063580565206848, -0.030868038252106492], "std": [0.2050353386363387, 0.024990573300061464, 0.0025649423995026187, 0.0, 0.0, 0.00017156812022498327, 0.0001714875612832556, 0.10608117724908941, 0.2792123062594041, 0.09175407864785305, 0.9207672945519745, 0.2538879199271106, 0.17494359420005584, 0.05503169706926539, 0.01290031647278779, 0.01213755568538354], "count": [1217]}, "action": {"min": [-0.46428571428571436, -0.6428571428571428, 0.0, 0.0, -1.0, -0.6714285714285714, -1.0, -0.5785714285714286, -0.39714285714285713, -0.2285714285714286, -0.4371428571428572, -1.0], "max": [0.15714285714285717, 0.0, 0.02, 0.0, 1.0, 0.6071428571428572, 1.0, 1.0, 0.2485714285714286, 0.19428571428571428, 0.2542857142857143, 1.0], "mean": [-0.0019603239816879917, -0.01609930743044958, 2.347693391243104e-05, 0.0, -0.8849630238290879, 0.025202488554994688, 0.02237351801854678, -0.028054936025355127, 0.005270571663340767, 0.0021317055992487377, -0.004871463786829434, -0.13557929334428923], "std": [0.035792457733854144, 0.08752646299781111, 0.0006232938047021375, 0.0, 0.4656613001477326, 0.21138182574575454, 0.4193034601377129, 0.2647434858059812, 0.061259490347628356, 0.05091805829675489, 0.08320621787485487, 0.9907664988362609], "count": [1217]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016433853656053543], "std": [0.12713685631752014], "count": [1217]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008216926869350862], "std": [0.02865340307997156], "count": [1217]}, "timestamp": {"min": [0.0], "max": [60.8], "mean": [30.400000000000002], "std": [17.565876010037186], "count": [1217]}, "frame_index": {"min": [0], "max": [1216], "mean": [608.0], "std": [351.3175202007438], "count": [1217]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [1217]}, "index": {"min": [131320], "max": [132536], "mean": [131928.0], "std": [351.3175202007438], "count": [1217]}, "task_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1217]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4722734690549511]], [[0.45866856026684183]], [[0.45158323099662384]]], "std": [[[0.24457080859599079]], [[0.2417992698698995]], [[0.24298797657390644]]], "count": [229]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4308589660607949]], [[0.4305956481468474]], [[0.42888710563523136]]], "std": [[[0.2359707190572382]], [[0.23145623092740442]], [[0.23010997018677118]]], "count": [229]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4298261748120458]], [[0.43045342849821594]], [[0.4292069810171101]]], "std": [[[0.24219272138408066]], [[0.23836336531768737]], [[0.2373188674560137]]], "count": [229]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1407]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1407]}, "observation.state": {"min": [0.7827741596241208, -4.813303512517505, 0.6999984095862406, 0.0, 0.0, -1.0, 0.0, -0.04531721642550712, -0.48035929326188676, 0.22457876218757467, -0.995110273361206, -0.45933571457862854, -0.3039769232273102, 6.506808858830482e-06, -0.0007865709663402963, -0.04000184578136052], "max": [0.8313267739944805, -4.288736042802918, 0.7088971939702977, 0.0, 0.0, 1.0, 0.060757044702768326, 0.6049513024369122, 0.25638844217666357, 0.5756492082777994, 0.9934872984886169, 0.40562769770622253, 0.4948368966579437, 0.1797286868095398, 0.04145792773960239, -0.008794422805819819], "mean": [0.8039090912582619, -4.466564446212547, 0.704579492413702, 0.0, 0.0, 0.2741359177005147, 0.03144593961207676, 0.28625485297608777, -0.08493163690886413, 0.37533997611695924, -0.7145494999577157, 0.0026657215684292245, -0.10269096915960291, 0.05250792702315745, 0.029410444297379875, -0.028108536098502522], "std": [0.014934032366850918, 0.1941370095787897, 0.002608197991903765, 0.0, 0.0, 0.9607363729759361, 0.02909109388525304, 0.15284374852212165, 0.19757830589774406, 0.10856841328052638, 0.6536509541080355, 0.15340044381560278, 0.15597247410828677, 0.031475534838151714, 0.01278737175979098, 0.012433886449273429], "count": [1407]}, "action": {"min": [-0.44464285714285723, -0.825, -0.17357142857142857, 0.0, -1.0, -1.0, -0.8142857142857143, -0.46071428571428574, -0.2357142857142857, -0.375, -0.44142857142857145, -1.0], "max": [0.6535714285714286, 1.0, 0.03214285714285715, 0.0, 1.0, 0.5732142857142857, 1.0, 1.0, 0.3107142857142858, 0.5700000000000001, 0.2507142857142857, 1.0], "mean": [0.006297593664331404, 0.010219311605239112, -0.002091075236064576, 0.0, -0.8678038379530917, 0.008258452634785241, -0.00030206112295662227, -0.02503172910955426, -0.0002939384709107523, 0.002031678342978981, -0.0001066098081023465, -0.07462686567164178], "std": [0.06074624439093528, 0.12550889529235476, 0.016975959805798944, 0.0, 0.49690693176275724, 0.28906023166564176, 0.2360659268491354, 0.3014733365089343, 0.040623667769945485, 0.0743080699679001, 0.0680783108146458, 0.9972115276710556], "count": [1407]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01918976567685604], "std": [0.1371915340423584], "count": [1407]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007107320540156361], "std": [0.026650082813436636], "count": [1407]}, "timestamp": {"min": [0.0], "max": [70.3], "mean": [35.15], "std": [20.308290589477657], "count": [1407]}, "frame_index": {"min": [0], "max": [1406], "mean": [703.0], "std": [406.16581178955306], "count": [1407]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [1407]}, "index": {"min": [132537], "max": [133943], "mean": [133240.0], "std": [406.16581178955306], "count": [1407]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1407]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4469076138519924]], [[0.4510171966263194]], [[0.42108467910696284]]], "std": [[[0.22973595354786508]], [[0.24431290805153094]], [[0.21852758583721796]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5110754947691653]], [[0.481741961448768]], [[0.45589018956404387]]], "std": [[[0.22776784846924858]], [[0.24239346198372003]], [[0.25275440157935714]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5062332844081433]], [[0.4779779307530094]], [[0.4506945954651392]]], "std": [[[0.22326637392042914]], [[0.2385747119715956]], [[0.24851245737859956]]], "count": [217]}, "annotation.human.task_description": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1307]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1307]}, "observation.state": {"min": [0.7856889262363284, -2.257103199460724, 0.6999984958021246, 0.0, 0.0, -1.0, 6.724344075337285e-06, 0.12531176597365024, -0.7600106557964659, 0.22404476245411442, -0.9982287287712097, -0.277444452047348, -0.3743358552455902, 6.447530722653028e-06, -0.0008606493376768708, -0.04106908421007677], "max": [0.7859123279339418, -2.256391494611163, 0.7085138674856853, 0.0, 0.0, 1.0, 0.0004140118253417313, 0.46140341724529305, 0.76728398286666, 0.5958547420888135, 0.9906461238861084, 0.3590610921382904, 0.29328453540802, 0.2810603380203247, 0.04323571049246055, -0.003005289839347607], "mean": [0.7857054252042536, -2.256931500710842, 0.7042741431816715, 0.0, 0.0, 0.9984697781178271, 0.00015213554886498414, 0.3131904166935187, -0.0027426227519913846, 0.3242016567337688, -0.14522955731389717, -0.03948104506117657, -0.013793825647525073, 0.0943979702347873, 0.03214673095976233, -0.031137734299422425], "std": [1.3797962665551553e-05, 2.99910386710846e-05, 0.0029241385617776766, 0.0, 0.0, 0.05530011017472808, 2.0807968876136373e-05, 0.08807380797763209, 0.41681711232040153, 0.06965434306556803, 0.9437790770922175, 0.1792887635679717, 0.19962349951206007, 0.07440044451766537, 0.010212813882324232, 0.010440891124310998], "count": [1307]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5142857142857143, -0.7285714285714285, -0.5428571428571429, -0.2285714285714286, -0.1142857142857143, -0.2257142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5, 1.0, 0.5285714285714286, 0.24, 0.12, 0.32571428571428573, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01516559186796371, -0.013105257405180938, -0.03218384522898678, -5.0278718985682096e-05, -0.001576128538638105, -0.0009771559733304193, -0.04820198928844682], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14933989731305308, 0.3329570111491277, 0.18133264760755746, 0.04946372277489106, 0.03346312219765678, 0.05466665267410745, 0.9988376085373499], "count": [1307]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023718439042568207], "std": [0.1521705538034439], "count": [1307]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007651109410864575], "std": [0.027650055087364424], "count": [1307]}, "timestamp": {"min": [0.0], "max": [65.3], "mean": [32.650000000000006], "std": [18.864914524057617], "count": [1307]}, "frame_index": {"min": [0], "max": [1306], "mean": [653.0], "std": [377.2982904811523], "count": [1307]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [1307]}, "index": {"min": [133944], "max": [135250], "mean": [134597.0], "std": [377.2982904811523], "count": [1307]}, "task_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1307]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5788934864993124]], [[0.5651047005243629]], [[0.5524086043345009]]], "std": [[[0.2581076335908074]], [[0.25992303525641186]], [[0.2691544807853104]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5221809205899473]], [[0.5254943114153423]], [[0.5297197255918497]]], "std": [[[0.296717027226702]], [[0.2820943328579215]], [[0.2606132248219019]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5354915777109736]], [[0.5341751168949812]], [[0.5314649543820804]]], "std": [[[0.28954784072237344]], [[0.27718096680530724]], [[0.25995161357619306]]], "count": [217]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1309]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1309]}, "observation.state": {"min": [2.3073629896946857, -0.8107422019101431, 0.6999963278394503, 0.0, 0.0, 0.6970751881599426, 0.6950337290763855, 0.12827849498923483, -0.8428405388673474, 0.2330495915145484, -0.9999653697013855, -0.4581191837787628, -0.18694967031478882, 7.592798738187412e-06, 0.011334704734291726, -0.04052398564155103], "max": [2.7078822388202735, -0.7516897645350781, 0.7011619422685437, 0.0, 0.0, 0.7189770936965942, 0.7169980406761169, 0.5394435687271691, 0.4903820455591943, 0.5931363017780206, 0.9999759197235107, 0.43211254477500916, 0.16694596409797668, 0.3285187780857086, 0.040245921113822386, -0.011503006541171295], "mean": [2.439292226903084, -0.765951730159025, 0.7007155124299307, 0.0, 0.0, 0.7126322516145553, 0.7015091926656305, 0.30174740115144966, -0.1197604369695269, 0.3797505088378813, -0.032054016387945285, 0.047760300027353104, 0.017479928093295363, 0.06796790383863151, 0.03422645129583753, -0.033769456399531946], "std": [0.18622368982850077, 0.014334591068404814, 0.00029156974912050536, 0.0, 0.0, 0.00445711488998828, 0.004500627827441289, 0.09937807223738375, 0.3591207065034442, 0.08244097445362619, 0.9693947249830666, 0.19641136628571182, 0.07647450062578579, 0.08726054711801771, 0.009279500289283055, 0.008882951894263852], "count": [1309]}, "action": {"min": [-0.4, 0.0, -0.08571428571428572, 0.0, -1.0, -0.6571428571428571, -1.0, -0.4857142857142857, -0.11714285714285716, -0.09142857142857143, -0.3657142857142857, -1.0], "max": [0.5428571428571429, 0.6571428571428571, 0.10857142857142858, 0.0, 1.0, 0.5642857142857142, 1.0, 0.6857142857142858, 0.19714285714285715, 0.18857142857142858, 0.26, 1.0], "mean": [0.0014460329586379998, 0.013587253083051405, 0.0008272399869038525, 0.0, -0.9144385026737968, 0.02027720178980684, -0.018329149841754846, -0.0038688202553748877, 0.0006111535523300218, 0.008200371057513912, -0.006443304594565099, -0.1443850267379679], "std": [0.05192140516065348, 0.07882116897470191, 0.011853201291340496, 0.0, 0.4047248754743207, 0.19028052193944325, 0.41116473047556373, 0.2153742026828356, 0.024551429385635416, 0.04093982685039694, 0.06674814039643057, 0.9895215834199299], "count": [1309]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018334606662392616], "std": [0.13415829837322235], "count": [1309]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007639419404125286], "std": [0.027628940137547936], "count": [1309]}, "timestamp": {"min": [0.0], "max": [65.4], "mean": [32.7], "std": [18.89378204595364], "count": [1309]}, "frame_index": {"min": [0], "max": [1308], "mean": [654.0], "std": [377.87564091907274], "count": [1309]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1309]}, "index": {"min": [135251], "max": [136559], "mean": [135905.0], "std": [377.87564091907274], "count": [1309]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1309]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44311278477466437]], [[0.4434884558379324]], [[0.44357191233052906]]], "std": [[[0.3059081061348265]], [[0.3079038419852356]], [[0.31191792484505226]]], "count": [222]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5534910947647729]], [[0.484441562390458]], [[0.45267389779629125]]], "std": [[[0.24703167842877988]], [[0.29254761544938757]], [[0.31449162838262185]]], "count": [222]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5434349554668697]], [[0.47175615071787086]], [[0.43735123098454615]]], "std": [[[0.2582242383515187]], [[0.29635068345735044]], [[0.31458309201714707]]], "count": [222]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1351]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1351]}, "observation.state": {"min": [3.3046273206355368, -3.741699368289068, 0.6999986702980775, 0.0, 0.0, 0.7071048021316528, 0.700324535369873, 0.24822606506313782, -0.5276875253804723, 0.22715517464194834, -0.9975343942642212, -0.4689680337905884, -0.2879411578178406, 1.492277533543529e-05, 0.006981251838026876, -0.040209667323678776], "max": [4.274833623174819, -3.6398210794053956, 0.7048042983028262, 0.0, 0.0, 0.7138245701789856, 0.707108736038208, 0.790434176055617, 0.45306962187621513, 0.6106155195551393, 0.9902963042259216, 0.4556291103363037, 0.2301807552576065, 0.1656382828950882, 0.040853360127874105, -0.010545322922298605], "mean": [3.5263280099470613, -3.732294933902531, 0.701942111045134, 0.0, 0.0, 0.712292433843888, 0.7018731600438816, 0.4680280508450609, -0.025448420794986708, 0.34779000162910817, -0.1293686924820737, -0.030368441105065393, -0.04711472472446378, 0.05410795205650527, 0.029332426797815614, -0.028121272179927978], "std": [0.38628674429031556, 0.018111509249372708, 0.0018638063748382763, 0.0, 0.0, 0.002590663560624348, 0.0026151136704822653, 0.10312456688381282, 0.2553917709725557, 0.09381082849137429, 0.9430100326151482, 0.24492873160337797, 0.16144596749520176, 0.043257680532300884, 0.011842055514718208, 0.011970297977857099], "count": [1351]}, "action": {"min": [-0.4714285714285715, -0.6142857142857143, 0.0, 0.0, -1.0, -0.7714285714285714, -0.8500000000000001, -0.5, -0.26285714285714284, -0.18285714285714286, -0.46857142857142864, -1.0], "max": [0.15, 0.5571428571428572, 0.06, 0.0, 1.0, 0.55, 1.0, 0.6642857142857144, 0.2257142857142857, 0.10285714285714286, 0.3342857142857143, 1.0], "mean": [-0.006376229248175954, 0.014576504176800268, 0.0003827852384477106, 0.0, -0.7364914877868246, 0.021365126361425384, -0.02104790102569525, -0.023929364491910732, 0.0031024637834408415, -0.0019033520143808805, -0.004593422861372532, 0.0229459659511473], "std": [0.04785045361206091, 0.1463652430283601, 0.004200988716820195, 0.0, 0.6764468112258034, 0.23571804219406414, 0.40531401586741167, 0.20850068885849204, 0.04353938933846512, 0.038731876729534924, 0.08199679046938597, 0.9997367066615946], "count": [1351]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01776461862027645], "std": [0.13209480047225952], "count": [1351]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007401924500370096], "std": [0.02719640721076808], "count": [1351]}, "timestamp": {"min": [0.0], "max": [67.5], "mean": [33.75], "std": [19.5], "count": [1351]}, "frame_index": {"min": [0], "max": [1350], "mean": [675.0], "std": [390.0], "count": [1351]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [1351]}, "index": {"min": [136560], "max": [137910], "mean": [137235.0], "std": [390.0], "count": [1351]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1351]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5637662161009903]], [[0.5547147714734098]], [[0.5497392230244044]]], "std": [[[0.31512382850070836]], [[0.32571190083558144]], [[0.32952618497613834]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5136949186611159]], [[0.48567578120908483]], [[0.47867599776267844]]], "std": [[[0.23366321116002822]], [[0.24395139286769313]], [[0.24661843283425403]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5025921567952351]], [[0.4737280197233057]], [[0.4667843025454289]]], "std": [[[0.23493694049283578]], [[0.24354440130796204]], [[0.24568636063954397]]], "count": [234]}, "annotation.human.task_description": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1443]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1443]}, "observation.state": {"min": [0.7809209935298957, -3.511687244507206, 0.6999986828849447, 0.0, 0.0, -1.0, 8.07699223059899e-08, 0.1429629796398142, -0.4583578918491704, 0.2295487518926964, -0.9999610781669617, -0.5390682220458984, -0.24063630402088165, 0.00017533743812236935, 0.00958101113113571, -0.04013298161531515], "max": [0.8993902854393777, -3.074980601771402, 0.7012392365570099, 0.0, 0.0, 1.0, 0.0011388148413971066, 0.6305868787588731, 0.558529923881137, 0.6094167635752082, 0.9999614953994751, 0.27321064472198486, 0.21894356608390808, 0.22658853232860565, 0.04055479775472818, -0.008813462233062208], "mean": [0.8100115779126367, -3.176256490224587, 0.7005986891299896, 0.0, 0.0, -0.1739431456072167, 0.00029714783143744753, 0.36121392368289124, 0.07098809013488316, 0.3437374216081121, -0.7892726497441964, -0.020495588550433177, -0.05932704193238034, 0.040969367102454905, 0.031063815400332866, -0.031061727657539277], "std": [0.014200918297735574, 0.1831028173870788, 0.00028763035251380274, 0.0, 0.0, 0.9847556393583833, 0.00025896070801967953, 0.10506657037970497, 0.3179849682004455, 0.08490575330839759, 0.5728011737150147, 0.17196232872142297, 0.10727038209000798, 0.04744749730077038, 0.010948463528580785, 0.011222428602976084], "count": [1443]}, "action": {"min": [-0.4857142857142857, 0.0, 0.0, 0.0, -1.0, -0.7000000000000001, -0.807142857142857, -0.5357142857142857, -0.10285714285714286, -0.18857142857142858, -0.24285714285714288, -1.0], "max": [0.7000000000000001, 1.0, 0.014285714285714287, 0.0, 1.0, 0.5642857142857142, 0.8642857142857142, 0.6928571428571428, 0.06857142857142857, 0.1657142857142857, 0.26857142857142857, 1.0], "mean": [0.0035442035442035448, 0.009504009504009505, 2.574002574002574e-05, 0.0, -0.9487179487179487, 0.016196416196416184, -0.017037917037917093, -0.012993762993762984, -0.0009147609147609142, 0.0031660231660231696, 0.0013998613998614008, -0.11711711711711711], "std": [0.06872230194867521, 0.08658504880381371, 0.0005771561430133956, 0.0, 0.3161237950240513, 0.1964471101824625, 0.3175347851611737, 0.207052951695651, 0.018721203206614082, 0.033323047203163855, 0.06280512847750755, 0.9931181102357329], "count": [1443]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01316701341420412], "std": [0.11398965865373611], "count": [1443]}, "next.done": {"min": [false], "max": [true], "mean": [0.000693000693000693], "std": [0.026315783154605022], "count": [1443]}, "timestamp": {"min": [0.0], "max": [72.1], "mean": [36.050000000000004], "std": [20.82790595971344], "count": [1443]}, "frame_index": {"min": [0], "max": [1442], "mean": [721.0], "std": [416.5581191942688], "count": [1443]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [1443]}, "index": {"min": [137911], "max": [139353], "mean": [138632.0], "std": [416.5581191942688], "count": [1443]}, "task_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1443]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4983914126822348]], [[0.4829053171796233]], [[0.4740955208086663]]], "std": [[[0.2643966101656465]], [[0.26721257044640495]], [[0.2711103984343336]]], "count": [229]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42765365562697]], [[0.4272309290300198]], [[0.42624990321336637]]], "std": [[[0.23099776392644403]], [[0.2276763272312324]], [[0.2266103630032626]]], "count": [229]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40048167028393644]], [[0.4006968146369151]], [[0.39995578073742805]]], "std": [[[0.22510024790862782]], [[0.2214640673962346]], [[0.22014703949737535]]], "count": [229]}, "annotation.human.task_description": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1403]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1403]}, "observation.state": {"min": [0.8118489926768045, -1.4541084346058282, 0.6999974016375843, 0.0, 0.0, -1.0, 0.0, 0.14748830704928884, -0.5138407883487387, 0.2284485539723069, -0.9990105628967285, -0.542654275894165, -0.16926154494285583, 1.1401940355426632e-05, 0.0014763362906926266, -0.04046896108378332], "max": [0.8125974030383465, -1.4518555723812785, 0.7024046221589141, 0.0, 0.0, 1.0, 0.002356134122237563, 0.5104627597316245, 0.7776272878003683, 0.5835645519077473, 0.9970033168792725, 0.4658656418323517, 0.11191962659358978, 0.16692794859409332, 0.04047918984364376, -0.011043510126696477], "mean": [0.812232589662772, -1.4532047482600994, 0.7014795513152191, 0.0, 0.0, -0.7462567196347759, 0.00134646429930899, 0.3342616912603992, 0.14225596662307516, 0.34468736760102586, -0.7502424306556826, -0.0376683157375474, -0.019224490402838086, 0.060972332049764835, 0.03014248335772134, -0.03147716362099344], "std": [0.00023448454949421784, 0.000882438999695792, 0.0008244447578693572, 0.0, 0.0, 0.6656563006603764, 0.000911613194813521, 0.07748555530656662, 0.3820484433613955, 0.08978798841835572, 0.6266349753326148, 0.18333996565937757, 0.06492487874025936, 0.03361564681628996, 0.011427019178642993, 0.010345170833548955], "count": [1403]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5571428571428572, -0.8428571428571429, -0.5714285714285715, -0.1742857142857143, -0.24285714285714288, -0.39714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5285714285714286, 1.0, 1.0, 0.1742857142857143, 0.2, 0.22, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.011449954179818768, -0.0076417880052947725, -0.027853579065268287, 0.004687913654414011, 0.0037144893595356873, 0.00030750432746157104, -0.1774768353528154], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15142131248138446, 0.4090189553498409, 0.2109514576020416, 0.03512307298177676, 0.04015915722963496, 0.07022762938469222, 0.9841249782995781], "count": [1403]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022095508873462677], "std": [0.1469942182302475], "count": [1403]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007127583749109052], "std": [0.026688018855094874], "count": [1403]}, "timestamp": {"min": [0.0], "max": [70.1], "mean": [35.050000000000004], "std": [20.250555547934976], "count": [1403]}, "frame_index": {"min": [0], "max": [1402], "mean": [701.0], "std": [405.0111109586995], "count": [1403]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1403]}, "index": {"min": [139354], "max": [140756], "mean": [140055.0], "std": [405.0111109586995], "count": [1403]}, "task_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1403]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2872164470557469]], [[0.2742226115930813]], [[0.2693744226604024]]], "std": [[[0.16011990407984755]], [[0.14463273172657123]], [[0.13483037144929388]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4005758026250792]], [[0.3214141028808271]], [[0.3180184861221196]]], "std": [[[0.27071272121513024]], [[0.27423585392696037]], [[0.26201749544440595]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4223835365445006]], [[0.33643875575900783]], [[0.3303754532119203]]], "std": [[[0.28162986459671857]], [[0.28735763176876333]], [[0.2709747805626059]]], "count": [178]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1007]}, "annotation.human.task_name": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1007]}, "observation.state": {"min": [3.4077584834014365, -3.689393649401047, 0.6999985046688172, 0.0, 0.0, 0.7026732563972473, 0.7070859670639038, 0.15591204352054922, -0.32817364538227256, 0.22676131452774606, -0.9985421299934387, -0.5800906419754028, -0.3106023669242859, 0.0001660618290770799, 0.006282823612253127, -0.040741462011503485], "max": [3.91611119934588, -3.63399743622557, 0.7061728673917935, 0.0, 0.0, 0.7071275115013123, 0.7115126848220825, 0.6749827250516476, 0.4863075182842187, 0.6046854377953979, 0.994310736656189, 0.4256671071052551, 0.3114268183708191, 0.12118079513311386, 0.04253240814980767, -0.007568552843715134], "mean": [3.6638178203532883, -3.6631967816511795, 0.7027912383646109, 0.0, 0.0, 0.7050418246467158, 0.7091596029484284, 0.39488229195951574, -0.006003908723012797, 0.344657058671123, 0.42843719662833946, 0.021722097941253488, 0.05039215638842104, 0.049571185005417066, 0.03075689618057367, -0.03064191064989974], "std": [0.2465826656815496, 0.027169373430058017, 0.0018132744598482477, 0.0, 0.0, 0.002086662173998972, 0.002074162603865235, 0.12237644604208803, 0.21188672848275542, 0.0869487067398788, 0.8586719272426101, 0.23377888608027658, 0.13410326660037108, 0.031926732084997834, 0.011009867414826836, 0.011365442649957631], "count": [1007]}, "action": {"min": [-0.5142857142857143, -0.44285714285714284, -0.1, 0.0, -1.0, -0.9214285714285714, -0.75, -0.7785714285714286, -0.23142857142857146, -0.23142857142857146, -0.38285714285714284, -1.0], "max": [0.1, 0.6142857142857143, 0.0, 0.0, 1.0, 0.8785714285714286, 0.8500000000000001, 0.8857142857142857, 0.14285714285714285, 0.16285714285714287, 0.38, 1.0], "mean": [-0.0029507731593133783, 0.019066534260178753, -0.0003262874166548447, 0.0, -0.8768619662363456, 0.018825365300042547, -0.012214498510426972, -0.0555752589019719, -0.0017818130231238504, 0.003691303731025675, 0.0010668179883671458, -0.1717974180734856], "std": [0.03866328585708632, 0.10257237069564372, 0.0046938727865431995, 0.0, 0.4807422304812926, 0.3389578869789335, 0.31096070366389916, 0.283230845672604, 0.04056811935632072, 0.05881109785665747, 0.09799512673357083, 0.9851322993097368], "count": [1007]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013902680948376656], "std": [0.11708714067935944], "count": [1007]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009930486593843098], "std": [0.03149702388709773], "count": [1007]}, "timestamp": {"min": [0.0], "max": [50.3], "mean": [25.15], "std": [14.534785860135678], "count": [1007]}, "frame_index": {"min": [0], "max": [1006], "mean": [503.0], "std": [290.6957172027135], "count": [1007]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [1007]}, "index": {"min": [140757], "max": [141763], "mean": [141260.0], "std": [290.6957172027135], "count": [1007]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1007]}}} diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/info.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7dc70c13b5f074df491489c4ef793ae67673d29c --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 102, + "total_frames": 141764, + "total_tasks": 55, + "total_videos": 306, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:102" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/modality.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/stats.json b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..fc8cbddd01de1a134894cad67c471173bc3fc98b --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 24.25807762145996 + ], + "std": [ + 15.571249008178711 + ], + "min": [ + 0.0 + ], + "max": [ + 54.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 53.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 55.0 + ], + "std": [ + 0.0 + ], + "min": [ + 55.0 + ], + "max": [ + 55.0 + ], + "q01": [ + 55.0 + ], + "q99": [ + 55.0 + ] + }, + "observation.state": { + "mean": [ + 2.196359872817993, + -2.66869854927063, + 0.7024353742599487, + 0.0, + 0.0, + 0.1461707204580307, + 0.41367316246032715, + 0.311435729265213, + -0.02933167666196823, + 0.3603644073009491, + -0.16869762539863586, + -0.013571497984230518, + -0.011656058952212334, + 0.05581294372677803, + 0.03066129982471466, + -0.030666451901197433 + ], + "std": [ + 1.554519534111023, + 1.2500578165054321, + 0.002585503039881587, + 0.0, + 0.0, + 0.8027779459953308, + 0.40343037247657776, + 0.12326265126466751, + 0.32210251688957214, + 0.09860938042402267, + 0.9335745573043823, + 0.26282504200935364, + 0.15688028931617737, + 0.05323698744177818, + 0.011724342592060566, + 0.011630344204604626 + ], + "min": [ + 0.10141144692897797, + -5.638374328613281, + 0.6999797224998474, + 0.0, + 0.0, + -1.0, + 0.0, + -0.24806249141693115, + -0.8428405523300171, + 0.2185065597295761, + -0.9999992847442627, + -0.9996417164802551, + -0.5092432498931885, + 1.6420530357663665e-07, + -0.0026151619385927916, + -0.04202229529619217 + ], + "max": [ + 4.931169509887695, + -0.520608127117157, + 0.7152808308601379, + 0.0, + 0.0, + 1.0, + 1.0, + 0.7904341816902161, + 0.8201009035110474, + 0.7046178579330444, + 0.9999759197235107, + 0.9989420771598816, + 0.5447579622268677, + 0.4653659164905548, + 0.04323571175336838, + 0.0012001957511529326 + ], + "q01": [ + 0.11786524206399918, + -4.889551162719727, + 0.6999983191490173, + 0.0, + 0.0, + -1.0, + 1.9845001588691957e-06, + -0.022684821859002113, + -0.6890418529510498, + 0.22814998030662537, + -0.9990708231925964, + -0.6630129814147949, + -0.35560014843940735, + 0.0006466147024184465, + 0.00638152752071619, + -0.04018732160329819 + ], + "q99": [ + 4.9064459800720215, + -0.7506986856460571, + 0.712857186794281, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6117774248123169, + 0.6740686297416687, + 0.6231746673583984, + 0.9983927011489868, + 0.9535768032073975, + 0.34355688095092773, + 0.25483670830726624, + 0.0401403047144413, + -0.0064562782645225525 + ] + }, + "action": { + "mean": [ + 0.0029490625020116568, + 0.00015690020518377423, + -0.00022591309971176088, + 0.0, + -0.8645354509353638, + 0.012713409960269928, + 0.0003958580200560391, + -0.020972229540348053, + -0.00012162783968960866, + 0.0004436402814462781, + 0.0003131912962999195, + -0.1417849361896515 + ], + "std": [ + 0.07106608897447586, + 0.13602395355701447, + 0.012952243909239769, + 0.0, + 0.5024247765541077, + 0.21963191032409668, + 0.3331376910209656, + 0.23521393537521362, + 0.0383906215429306, + 0.05029093846678734, + 0.0767645612359047, + 0.989723265171051 + ], + "min": [ + -1.0, + -1.0, + -0.477142870426178, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.46000000834465027, + -0.8971428275108337, + -0.691428542137146, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 0.5942857265472412, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.38285714387893677, + 0.9371428489685059, + 0.8171428442001343, + 1.0 + ], + "q01": [ + -0.19285714626312256, + -0.5928571224212646, + -0.017142856493592262, + 0.0, + -1.0, + -0.6714285612106323, + -0.8500000238418579, + -0.48571428656578064, + -0.13428571820259094, + -0.1735714226961136, + -0.2857142984867096, + -1.0 + ], + "q99": [ + 0.3571428656578064, + 0.6142857074737549, + 0.0, + 0.0, + 1.0, + 0.5428571701049805, + 0.8999999761581421, + 0.7214285731315613, + 0.13428571820259094, + 0.14571428298950195, + 0.24571429193019867, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.015829123556613922 + ], + "std": [ + 0.12481412291526794 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0007195056532509625 + ], + "std": [ + 0.02681395225226879 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 35.893184661865234 + ], + "std": [ + 22.23253059387207 + ], + "min": [ + 0.0 + ], + "max": [ + 122.3499984741211 + ], + "q01": [ + 0.6499999761581421 + ], + "q99": [ + 92.01875305175781 + ] + }, + "frame_index": { + "mean": [ + 717.8636474609375 + ], + "std": [ + 444.6506042480469 + ], + "min": [ + 0.0 + ], + "max": [ + 2447.0 + ], + "q01": [ + 13.0 + ], + "q99": [ + 1840.375 + ] + }, + "episode_index": { + "mean": [ + 50.91972732543945 + ], + "std": [ + 29.1633358001709 + ], + "min": [ + 0.0 + ], + "max": [ + 101.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 100.0 + ] + }, + "index": { + "mean": [ + 70881.5 + ], + "std": [ + 40923.7421875 + ], + "min": [ + 0.0 + ], + "max": [ + 141763.0 + ], + "q01": [ + 1417.6300048828125 + ], + "q99": [ + 140345.375 + ] + }, + "task_index": { + "mean": [ + 24.25807762145996 + ], + "std": [ + 15.571249008178711 + ], + "min": [ + 0.0 + ], + "max": [ + 54.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 53.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/tasks.jsonl b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c95fa214d5293124ccf280fa211fa6f95a0ada4 --- /dev/null +++ b/pretrain/composite/MealPrepStaging/20250718/lerobot/meta/tasks.jsonl @@ -0,0 +1,56 @@ +{"task_index": 0, "task": "Place both pans onto different burners. Then place the corn and the steak on different pans."} +{"task_index": 1, "task": "Place both pans onto different burners. Then place the eggplant and the fish on different pans."} +{"task_index": 2, "task": "Place both pans onto different burners. Then place the bell pepper and the shrimp on different pans."} +{"task_index": 3, "task": "Place both pans onto different burners. Then place the onion and the steak on different pans."} +{"task_index": 4, "task": "Place both pans onto different burners. Then place the mushroom and the fish on different pans."} +{"task_index": 5, "task": "Place both pans onto different burners. Then place the sweet potato and the shrimp on different pans."} +{"task_index": 6, "task": "Place both pans onto different burners. Then place the potato and the chicken drumstick on different pans."} +{"task_index": 7, "task": "Place both pans onto different burners. Then place the lemon and the steak on different pans."} +{"task_index": 8, "task": "Place both pans onto different burners. Then place the squash and the steak on different pans."} +{"task_index": 9, "task": "Place both pans onto different burners. Then place the sweet potato and the fish on different pans."} +{"task_index": 10, "task": "Place both pans onto different burners. Then place the corn and the fish on different pans."} +{"task_index": 11, "task": "Place both pans onto different burners. Then place the bell pepper and the steak on different pans."} +{"task_index": 12, "task": "Place both pans onto different burners. Then place the squash and the fish on different pans."} +{"task_index": 13, "task": "Place both pans onto different burners. Then place the broccoli and the steak on different pans."} +{"task_index": 14, "task": "Place both pans onto different burners. Then place the squash and the chicken drumstick on different pans."} +{"task_index": 15, "task": "Place both pans onto different burners. Then place the carrot and the chicken drumstick on different pans."} +{"task_index": 16, "task": "Place both pans onto different burners. Then place the potato and the steak on different pans."} +{"task_index": 17, "task": "Place both pans onto different burners. Then place the avocado and the fish on different pans."} +{"task_index": 18, "task": "Place both pans onto different burners. Then place the lemon wedge and the steak on different pans."} +{"task_index": 19, "task": "Place both pans onto different burners. Then place the lime and the steak on different pans."} +{"task_index": 20, "task": "Place both pans onto different burners. Then place the tomato and the shrimp on different pans."} +{"task_index": 21, "task": "Place both pans onto different burners. Then place the sweet potato and the steak on different pans."} +{"task_index": 22, "task": "Place both pans onto different burners. Then place the tomato and the chicken drumstick on different pans."} +{"task_index": 23, "task": "Place both pans onto different burners. Then place the squash and the shrimp on different pans."} +{"task_index": 24, "task": "Place both pans onto different burners. Then place the lemon wedge and the chicken drumstick on different pans."} +{"task_index": 25, "task": "Place both pans onto different burners. Then place the broccoli and the fish on different pans."} +{"task_index": 26, "task": "Place both pans onto different burners. Then place the garlic and the steak on different pans."} +{"task_index": 27, "task": "Place both pans onto different burners. Then place the lime and the chicken drumstick on different pans."} +{"task_index": 28, "task": "Place both pans onto different burners. Then place the corn and the shrimp on different pans."} +{"task_index": 29, "task": "Place both pans onto different burners. Then place the onion and the chicken drumstick on different pans."} +{"task_index": 30, "task": "Place both pans onto different burners. Then place the onion and the fish on different pans."} +{"task_index": 31, "task": "Place both pans onto different burners. Then place the tomato and the fish on different pans."} +{"task_index": 32, "task": "Place both pans onto different burners. Then place the tomato and the steak on different pans."} +{"task_index": 33, "task": "Place both pans onto different burners. Then place the lime and the fish on different pans."} +{"task_index": 34, "task": "Place both pans onto different burners. Then place the lemon and the shrimp on different pans."} +{"task_index": 35, "task": "Place both pans onto different burners. Then place the garlic and the shrimp on different pans."} +{"task_index": 36, "task": "Place both pans onto different burners. Then place the sweet potato and the chicken drumstick on different pans."} +{"task_index": 37, "task": "Place both pans onto different burners. Then place the lemon and the fish on different pans."} +{"task_index": 38, "task": "Place both pans onto different burners. Then place the lettuce and the fish on different pans."} +{"task_index": 39, "task": "Place both pans onto different burners. Then place the broccoli and the shrimp on different pans."} +{"task_index": 40, "task": "Place both pans onto different burners. Then place the cucumber and the steak on different pans."} +{"task_index": 41, "task": "Place both pans onto different burners. Then place the garlic and the fish on different pans."} +{"task_index": 42, "task": "Place both pans onto different burners. Then place the mushroom and the shrimp on different pans."} +{"task_index": 43, "task": "Place both pans onto different burners. Then place the lemon and the chicken drumstick on different pans."} +{"task_index": 44, "task": "Place both pans onto different burners. Then place the corn and the chicken drumstick on different pans."} +{"task_index": 45, "task": "Place both pans onto different burners. Then place the avocado and the shrimp on different pans."} +{"task_index": 46, "task": "Place both pans onto different burners. Then place the mushroom and the steak on different pans."} +{"task_index": 47, "task": "Place both pans onto different burners. Then place the carrot and the fish on different pans."} +{"task_index": 48, "task": "Place both pans onto different burners. Then place the cucumber and the chicken drumstick on different pans."} +{"task_index": 49, "task": "Place both pans onto different burners. Then place the mushroom and the chicken drumstick on different pans."} +{"task_index": 50, "task": "Place both pans onto different burners. Then place the eggplant and the steak on different pans."} +{"task_index": 51, "task": "Place both pans onto different burners. Then place the garlic and the chicken drumstick on different pans."} +{"task_index": 52, "task": "Place both pans onto different burners. Then place the bell pepper and the chicken drumstick on different pans."} +{"task_index": 53, "task": "Place both pans onto different burners. Then place the bell pepper and the fish on different pans."} +{"task_index": 54, "task": "Place both pans onto different burners. Then place the avocado and the steak on different pans."} +{"task_index": 55, "task": "MealPrepStaging"} diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/dataset_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d14777580c58dbed89783ba33880fd183f1ea483 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "7-30-2025", + "env": "OrganizeVegetables", + "env_args": { + "type": 1, + "env_name": "OrganizeVegetables", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "OrganizeVegetables", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "OrganizeVegetables", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "22:32:59", + "total": 40094 +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6850df91acabde3d83d4f8bdfc6d7a5eea89ced3 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,505 @@ +{ + "layout_id": 58, + "style_id": 57, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.685976157066536, + 0.65 + ], + "offset": [ + -0.788811921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.685976157066536, + 0.65 + ], + "offset": [ + -0.788811921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "size": [ + 1.685976157066536, + 0.65 + ], + "offset": [ + -0.788811921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "size": [ + 1.685976157066536, + 0.65 + ], + "offset": [ + -0.788811921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the tomato and the lime on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.799833530316253, + -0.8140356976031471, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2cabbb18801b5a6d459d0331e072df9caabbc185 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 59, + "style_id": 41, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_11/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_3_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place the mango and the pear on separate cutting boards.", + "fixture_refs": { + "counter": "counter_3_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9362282270202, + -0.9129329698455415, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c2944b4412ddc39e5e514fabb07722eb4ba63c0 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 37, + "style_id": 53, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.1599184999999999, + 0.650008 + ], + "offset": [ + 0.8549592499999996, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.1599184999999999, + 0.650008 + ], + "offset": [ + 0.8549592499999996, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1599184999999999, + 0.650008 + ], + "offset": [ + 0.8549592499999996, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "size": [ + 1.1599184999999999, + 0.650008 + ], + "offset": [ + 0.8549592499999996, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the apple and the kiwi on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8170317884609829, + -1.4581756419689291, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35e348a2cabd42de16401820cc6ecb3a558357ef --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 23, + "style_id": 31, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.659749358878847, + 0.65 + ], + "offset": [ + -1.3516253205605766, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.659749358878847, + 0.65 + ], + "offset": [ + -1.3516253205605766, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml" + }, + "reset_region": { + "size": [ + 1.659749358878847, + 0.65 + ], + "offset": [ + -1.3516253205605766, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml" + }, + "reset_region": { + "size": [ + 1.659749358878847, + 0.65 + ], + "offset": [ + -1.3516253205605766, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the lemon wedge and the orange on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.608221772634859, + -0.8019270111553807, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0882755818d43996b96beb9c05172cb7a87c0f26 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 32, + "style_id": 46, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the lemon and the lime on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.299082674562157, + -3.5504545999325363, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e28d0623a5af84b369849a1ca1e45f6b3e8131e8 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 46, + "style_id": 47, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.697036, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.697036, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "size": [ + 1.697036, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "size": [ + 1.697036, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the garlic and the lime on separate cutting boards.", + "fixture_refs": { + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.3497402421373925, + -0.9573572460136495, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d65aba896f15a03eaefbe58048188f0208bb5cf --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,614 @@ +{ + "layout_id": 17, + "style_id": 31, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the lemon and the tangerine on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.981844142909018, + -1.990029551435631, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.71238880553912 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b46ff9634298864c3cbfa7b7010dd454e30a899 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 55, + "style_id": 54, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.191411, + 1.16985 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.191411, + 1.16985 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml" + }, + "reset_region": { + "size": [ + 2.191411, + 1.16985 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 2.191411, + 1.16985 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the lemon wedge and the broccoli on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.463589695144274, + -2.2913840283772378, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712223637101589 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bcbe59476853466028843f845b1a1cc81483a5f3 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 48, + "style_id": 52, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2407176827484294, + 0.650012 + ], + "offset": [ + -1.0182611586257853, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2407176827484294, + 0.650012 + ], + "offset": [ + -1.0182611586257853, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2407176827484294, + 0.650012 + ], + "offset": [ + -1.0182611586257853, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_3_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_18/model.xml" + }, + "reset_region": { + "size": [ + 1.2407176827484294, + 0.650012 + ], + "offset": [ + -1.0182611586257853, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the avocado and the potato on separate cutting boards.", + "fixture_refs": { + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.731526476766199, + -1.290369062184132, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba6a662eabdfa32ab58230d877a1651f5b191c82 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,538 @@ +{ + "layout_id": 30, + "style_id": 13, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_2_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the lemon and the potato on separate cutting boards.", + "fixture_refs": { + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7978418590457578, + -3.9100915146324633, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4906c9462bf363bd9e2fd6d5ed3bffdacd3171d --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 44, + "style_id": 44, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the onion and the lemon on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.046015378685886, + -4.475132952295672, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9867926665f7eada567f2337eb16c0f1d7d96acc --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 60, + "style_id": 25, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.1125620999999999, + 0.650002 + ], + "offset": [ + 1.2187879500000005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.1125620999999999, + 0.650002 + ], + "offset": [ + 1.2187879500000005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1125620999999999, + 0.650002 + ], + "offset": [ + 1.2187879500000005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1125620999999999, + 0.650002 + ], + "offset": [ + 1.2187879500000005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place the corn and the orange on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.308298191594482, + -1.1013552395357895, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4bc4f2e2d503be7e65e2a65b010d5a32feac6191 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 23, + "style_id": 21, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.706, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.706, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "size": [ + 1.706, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_2_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "size": [ + 1.706, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the lime and the lemon on separate cutting boards.", + "fixture_refs": { + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7839810214780161, + -3.5473189873284086, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be05bb4e72a797b49afed7aaa342c6abb5c667db --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 44, + "style_id": 53, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the lemon and the squash on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.086832846248052, + -4.500274014815151, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a23ebc27d14a61e82ed782998ceab54c33bce565 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 35, + "style_id": 43, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1156890436254978, + 0.65 + ], + "offset": [ + -0.788705478187251, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1156890436254978, + 0.65 + ], + "offset": [ + -0.788705478187251, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1156890436254978, + 0.65 + ], + "offset": [ + -0.788705478187251, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + }, + "reset_region": { + "size": [ + 1.1156890436254978, + 0.65 + ], + "offset": [ + -0.788705478187251, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place the eggplant and the onion on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.502719796300717, + -1.1003560617045964, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0ea0bc654b5b464555e1a06ea07ef9969b9948f --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,597 @@ +{ + "layout_id": 24, + "style_id": 12, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3405875477734424, + 1.95 + ], + "offset": [ + 1.229706226113279, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3405875477734424, + 1.95 + ], + "offset": [ + 1.229706226113279, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3405875477734424, + 1.95 + ], + "offset": [ + 1.229706226113279, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3405875477734424, + 1.95 + ], + "offset": [ + 1.229706226113279, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the carrot and the mushroom on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.166035725632039, + -1.8054515588878586, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a3d285ff879116fe08677e7ed425c7945d89159 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 28, + "style_id": 33, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.402842215265112, + 0.65 + ], + "offset": [ + 1.1675788923674435, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.402842215265112, + 0.65 + ], + "offset": [ + 1.1675788923674435, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "size": [ + 1.402842215265112, + 0.65 + ], + "offset": [ + 1.1675788923674435, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 1.402842215265112, + 0.65 + ], + "offset": [ + 1.1675788923674435, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the broccoli and the corn on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.865600042858433, + -1.7036048469859952, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..640ad55bbc5a13fe152b9f8cbe607a6f6640b3f1 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 45, + "style_id": 30, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.05, + 1.04 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.05, + 1.04 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + }, + "reset_region": { + "size": [ + 2.05, + 1.04 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "size": [ + 2.05, + 1.04 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the peach and the tomato on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8502345267737974, + -3.223468112142729, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9bab3f4a3bbc25ee98bd362372518b2142c05b93 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 54, + "style_id": 28, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the bell pepper and the squash on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.50354371995772, + -0.9503336251258064, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..136e5ed3c98516d9858fdebe559b4cbf47631b14 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 19, + "style_id": 58, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the garlic and the sweet potato on separate cutting boards.", + "fixture_refs": { + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7977621989947, + -2.451604546778091, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b49a2b30f97c37042b4c4ad8482c82c635fb507c --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,637 @@ +{ + "layout_id": 29, + "style_id": 31, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the onion and the kiwi on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0215042456676513, + -0.8075468181785856, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85d61b64a968b9e5e35438e6bbe0b0f36a88e9fd --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,537 @@ +{ + "layout_id": 54, + "style_id": 55, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 3.290428, + 1.17 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 3.290428, + 1.17 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "size": [ + 3.290428, + 1.17 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_1/model.xml" + }, + "reset_region": { + "size": [ + 3.290428, + 1.17 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the lime and the potato on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.097876972364579, + -2.9630478074395836, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712223637101589 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43aad6b1e0e94c7ae336694a13265e3ebf94e6c1 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,595 @@ +{ + "layout_id": 56, + "style_id": 32, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the cucumber and the carrot on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.920036529104634, + -1.5345127611982838, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10aaf6a5e85a870f405f8ce499df5e774b91b747 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 28, + "style_id": 34, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.5189433326264594, + 0.65 + ], + "offset": [ + 1.1095283336867705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.5189433326264594, + 0.65 + ], + "offset": [ + 1.1095283336867705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5189433326264594, + 0.65 + ], + "offset": [ + 1.1095283336867705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5189433326264594, + 0.65 + ], + "offset": [ + 1.1095283336867705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the squash and the mango on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.953997150001514, + -1.7086702791291073, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce96e3399a304284a30dbb599359cd44a65b8566 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 32, + "style_id": 41, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "size": [ + 2.38484, + 0.96 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the onion and the cucumber on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3136180200432626, + -3.4423960046253077, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5642074ffbc03fb9b901cc4f6387347918c2dfce --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,631 @@ +{ + "layout_id": 20, + "style_id": 59, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.8603161570665359, + 0.65 + ], + "offset": [ + -0.757841921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.8603161570665359, + 0.65 + ], + "offset": [ + -0.757841921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "size": [ + 1.8603161570665359, + 0.65 + ], + "offset": [ + -0.757841921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "size": [ + 1.8603161570665359, + 0.65 + ], + "offset": [ + -0.757841921466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place the mushroom and the kiwi on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.83619560362551, + -3.0943230205938144, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3792fd1609d0ab37e073baf18910fec578cbab4 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 48, + "style_id": 60, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 3.292982, + 1.464295 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 3.292982, + 1.464295 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + }, + "reset_region": { + "size": [ + 3.292982, + 1.464295 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + }, + "reset_region": { + "size": [ + 3.292982, + 1.464295 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the orange and the onion on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.330600730988892, + -3.7253289744254183, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412869477002467 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af5ba1ec7b6442a12af34218d243ca9eddc3eb5f --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 24, + "style_id": 15, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3839871803869253, + 1.95 + ], + "offset": [ + 1.2080064098065373, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3839871803869253, + 1.95 + ], + "offset": [ + 1.2080064098065373, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3839871803869253, + 1.95 + ], + "offset": [ + 1.2080064098065373, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3839871803869253, + 1.95 + ], + "offset": [ + 1.2080064098065373, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the sweet potato and the peach on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1354527521624607, + -1.7262179561793871, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..043ed1f2106e512a5008a83a4c5a1087feb8ee4e --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,567 @@ +{ + "layout_id": 51, + "style_id": 47, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4510155740281645, + 0.65 + ], + "offset": [ + 0.8622932129859178, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4510155740281645, + 0.65 + ], + "offset": [ + 0.8622932129859178, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4510155740281645, + 0.65 + ], + "offset": [ + 0.8622932129859178, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4510155740281645, + 0.65 + ], + "offset": [ + 0.8622932129859178, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the corn and the lemon on separate cutting boards.", + "fixture_refs": { + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.267577427926051, + -0.7878028108264149, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9f21aea4a5c39a601a5e45b8846606ae94790d67 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,633 @@ +{ + "layout_id": 20, + "style_id": 31, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.27, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.27, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml" + }, + "reset_region": { + "size": [ + 1.27, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "size": [ + 1.27, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place the potato and the avocado on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2666781217079048, + -0.8175602283903983, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5c45ac0065a24062dfefb21abcd15d156a659c7 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 45, + "style_id": 56, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.045, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.045, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "size": [ + 1.045, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "size": [ + 1.045, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the kiwi and the garlic on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.862623348066888, + -1.056442195573482, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..182c6c3ad3ace29f057140feb13a38729fef0679 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 34, + "style_id": 34, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.0964653326264597, + 0.65 + ], + "offset": [ + 1.1738173336867705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0964653326264597, + 0.65 + ], + "offset": [ + 1.1738173336867705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0964653326264597, + 0.65 + ], + "offset": [ + 1.1738173336867705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "size": [ + 1.0964653326264597, + 0.65 + ], + "offset": [ + 1.1738173336867705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the peach and the lemon on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8039855576660443, + -1.2578791084159267, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c9a8be3fc9c77a2d7560e2fa9ea7957c87377d0 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,505 @@ +{ + "layout_id": 41, + "style_id": 31, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_2", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_2", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_2", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the orange and the potato on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.381325420634912, + -4.076095568857585, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961757989832 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..07293a6d6c4f445930f6cafad51e4afc3714e9f2 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,638 @@ +{ + "layout_id": 29, + "style_id": 20, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.5730453503334865, + 1.8 + ], + "offset": [ + 1.0359773248332564, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.5730453503334865, + 1.8 + ], + "offset": [ + 1.0359773248332564, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5730453503334865, + 1.8 + ], + "offset": [ + 1.0359773248332564, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5730453503334865, + 1.8 + ], + "offset": [ + 1.0359773248332564, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the garlic and the lemon on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.223341961590543, + -5.176688875615445, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.4228548662085245e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8df2698fe45c7ecb8e353134395dc0b52fc9838 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 14, + "style_id": 56, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.914, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.914, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_10/model.xml" + }, + "reset_region": { + "size": [ + 1.914, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml" + }, + "reset_region": { + "size": [ + 1.914, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the mushroom and the lemon wedge on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.662213020016217, + -0.7582849279791867, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8463b4fc9051752cf38b167a5acd59775f0eb04e --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,594 @@ +{ + "layout_id": 56, + "style_id": 42, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.215707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.215707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 2.215707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_3_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 2.215707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the broccoli and the broccoli on separate cutting boards.", + "fixture_refs": { + "counter": "counter_3_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.56952267385226, + -0.7944534201100385, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75e33df966a7199e54515d4ee72dd40a4fe7ee8f --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,640 @@ +{ + "layout_id": 12, + "style_id": 49, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + }, + "reset_region": { + "size": [ + 3.747, + 1.475 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the eggplant and the carrot on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7221255085894194, + -3.7361491863660334, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75b68d67bb5ead8143d6c6f4287016c4d8b6adde --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,546 @@ +{ + "layout_id": 53, + "style_id": 48, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.476944, + 1.259164 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.476944, + 1.259164 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "size": [ + 2.476944, + 1.259164 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "dining_dining_area_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "size": [ + 2.476944, + 1.259164 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place the cucumber and the broccoli on separate cutting boards.", + "fixture_refs": { + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7677267295397785, + -2.040210142443253, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141430444834092 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac8db4f17befbbe455055f3a89f273ba668b648e --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,700 @@ +{ + "layout_id": 39, + "style_id": 38, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place the kiwi and the garlic on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7150594101155887, + -5.595339812063301, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35b407bc4047ddb3aadd09f46f9a218a1855e1a3 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 19, + "style_id": 37, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the cucumber and the lemon on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3281939442175124, + -1.5603589323850844, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5179b5849c91c232c6cd930e719702735fa9c4a --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 17, + "style_id": 26, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3154762259761805, + 0.65 + ], + "offset": [ + -1.0172618870119097, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3154762259761805, + 0.65 + ], + "offset": [ + -1.0172618870119097, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3154762259761805, + 0.65 + ], + "offset": [ + -1.0172618870119097, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3154762259761805, + 0.65 + ], + "offset": [ + -1.0172618870119097, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the sweet potato and the carrot on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.858587815314368, + -1.304356237701856, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26f3d22719f7bd19c8d7e84ef287e8a666739552 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 22, + "style_id": 15, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the peach and the tomato on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.592980031420836, + -0.7851407336739684, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03adeb647d668f639e51eccbf209cf8fcf0d7257 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,613 @@ +{ + "layout_id": 49, + "style_id": 23, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the tangerine and the tangerine on separate cutting boards.", + "fixture_refs": { + "counter": "counter_3_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.4830483142889912, + -4.748530669470722, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712237632784059 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47bd41b46fb13a161b00c4fff5635c23cd46791b --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 40, + "style_id": 18, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.5896, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.5896, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5896, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "size": [ + 1.5896, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the kiwi and the lemon on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2047292864432655, + -0.8117954264289675, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51a474647216a158f90a7e82cc1f21bff62c1b6a --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 22, + "style_id": 49, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.7555749999999999, + 0.65 + ], + "offset": [ + 1.6397125000000008, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7555749999999999, + 0.65 + ], + "offset": [ + 1.6397125000000008, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7555749999999999, + 0.65 + ], + "offset": [ + 1.6397125000000008, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7555749999999999, + 0.65 + ], + "offset": [ + 1.6397125000000008, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the onion and the avocado on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8054700928954212, + -0.9089733309913426, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a9a1ff0d75aa2e51cd86e2afd9053942414ea0c --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,701 @@ +{ + "layout_id": 39, + "style_id": 33, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.829639358878847, + 0.65 + ], + "offset": [ + -1.4351803205605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 2.829639358878847, + 0.65 + ], + "offset": [ + -1.4351803205605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "size": [ + 2.829639358878847, + 0.65 + ], + "offset": [ + -1.4351803205605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 2.829639358878847, + 0.65 + ], + "offset": [ + -1.4351803205605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place the garlic and the corn on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.4936074273234525, + -0.8256523094781624, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0a8c96e468976a6c01d94c95caa65233737b7cf --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,595 @@ +{ + "layout_id": 43, + "style_id": 17, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.189956, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.189956, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_0/model.xml" + }, + "reset_region": { + "size": [ + 1.189956, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 1.189956, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the apple and the corn on separate cutting boards.", + "fixture_refs": { + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.934720490002804, + -0.7738238356434078, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11bb1ac6e57845d45725cb8339ca99ad51debd1c --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,617 @@ +{ + "layout_id": 49, + "style_id": 44, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_14/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_3_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_1/model.xml" + }, + "reset_region": { + "size": [ + 4.008624, + 0.677222 + ], + "offset": [ + 0.0, + 0.0, + 0.4600045 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the apple and the potato on separate cutting boards.", + "fixture_refs": { + "counter": "counter_3_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.5941488646452957, + -4.7021270176698975, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712237632784059 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b400ac68c2326f7284a3e121d007c7e9078d218a --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 38, + "style_id": 15, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.939, + 1.079 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.939, + 1.079 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "size": [ + 2.939, + 1.079 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "size": [ + 2.939, + 1.079 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the mushroom and the pear on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1769441766666424, + -4.765811410860349, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ece34fb3f0b3b0235ee90ffc791ffb2a7b2ccc7 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,639 @@ +{ + "layout_id": 29, + "style_id": 46, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_12/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the potato and the bell pepper on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.951506446674689, + -0.791353542926661, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80edcbf45b69914ef33c8906298bbb3f4d8cadbf --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 11, + "style_id": 11, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "dining_dining_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Place the corn and the lemon on separate cutting boards.", + "fixture_refs": { + "counter": "dining_dining_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.11711160711408, + -2.072640438218224, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 2.0281593271498366e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da3762291d5436fffd4bd3a3a2cd56d1325db7df --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 24, + "style_id": 48, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 3.219, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 3.219, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "size": [ + 3.219, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "size": [ + 3.219, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the orange and the tangerine on separate cutting boards.", + "fixture_refs": { + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3096747690229082, + -0.8166285763596499, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2594dbedd3f64d68f1137a26b986543ab7480849 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,614 @@ +{ + "layout_id": 49, + "style_id": 20, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the peach and the lemon on separate cutting boards.", + "fixture_refs": { + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7920086316616195, + -6.46850143923796, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853823117402091 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e22c228abfd249528335cd0503a13048c3db7eec --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,615 @@ +{ + "layout_id": 17, + "style_id": 41, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the carrot and the tomato on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7992796162546614, + -2.0242307143577283, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.71238880553912 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24dea0f279f144031c4e4ae92aae67730970055a --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 41, + "style_id": 28, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_2", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_2", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_2", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the lemon wedge and the tangerine on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_2" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5215700389077127, + -4.080310897250465, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961757989832 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3f95c641f013ad16c44501a75894e77ba8395c --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 28, + "style_id": 30, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.5988895460768136, + 0.65 + ], + "offset": [ + 1.0405552269615936, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5988895460768136, + 0.65 + ], + "offset": [ + 1.0405552269615936, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "size": [ + 1.5988895460768136, + 0.65 + ], + "offset": [ + 1.0405552269615936, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5988895460768136, + 0.65 + ], + "offset": [ + 1.0405552269615936, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the mushroom and the kiwi on separate cutting boards.", + "fixture_refs": { + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.088615445969134, + -0.8139686742715588, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..047d0d98061e3a76a76633d1180c88dc18c77d63 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,563 @@ +{ + "layout_id": 50, + "style_id": 52, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3132187827484292, + 0.65 + ], + "offset": [ + -0.8608731086257855, + -3.469446951953614e-17, + 0.4600005 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3132187827484292, + 0.65 + ], + "offset": [ + -0.8608731086257855, + -3.469446951953614e-17, + 0.4600005 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3132187827484292, + 0.65 + ], + "offset": [ + -0.8608731086257855, + -3.469446951953614e-17, + 0.4600005 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3132187827484292, + 0.65 + ], + "offset": [ + -0.8608731086257855, + -3.469446951953614e-17, + 0.4600005 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place the orange and the pear on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2926687708656814, + -0.8040239725913348, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707959135307359 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06d2d190544706e1401e680ff49a775361d2f089 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 11, + "style_id": 50, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Place the carrot and the pear on separate cutting boards.", + "fixture_refs": { + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.19760691170017, + -0.8288502257468813, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..230295fba10a4199d42448234bc1d1c1da8c5e20 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 44, + "style_id": 56, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_1/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the bell pepper and the mango on separate cutting boards.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.024029664106989, + -4.6602867585688745, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3f2ac74e86686972c50501d02e0e31ac25bcf23 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 55, + "style_id": 30, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3976495460768137, + 0.65 + ], + "offset": [ + 0.40117522696159336, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3976495460768137, + 0.65 + ], + "offset": [ + 0.40117522696159336, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3976495460768137, + 0.65 + ], + "offset": [ + 0.40117522696159336, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3976495460768137, + 0.65 + ], + "offset": [ + 0.40117522696159336, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the kiwi and the mango on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.243894429195379, + -0.9454189748866832, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb6ea10d63f8251957850b11e72dc9ef90248d33 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,563 @@ +{ + "layout_id": 50, + "style_id": 53, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.122982, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.122982, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + }, + "reset_region": { + "size": [ + 1.122982, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_3_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "size": [ + 1.122982, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place the onion and the eggplant on separate cutting boards.", + "fixture_refs": { + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.442391764082427, + -1.247215546149088, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a52029e9eabd176e561bb2ace4156155a60c1d00 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 16, + "style_id": 15, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.163987180386926, + 0.65 + ], + "offset": [ + 1.2430064098065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.163987180386926, + 0.65 + ], + "offset": [ + 1.2430064098065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "size": [ + 2.163987180386926, + 0.65 + ], + "offset": [ + 1.2430064098065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "size": [ + 2.163987180386926, + 0.65 + ], + "offset": [ + 1.2430064098065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place the avocado and the kiwi on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2382804153278637, + -4.287386546705086, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad633ae5c3d0c86771260058400f4c0a292c2be --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 24, + "style_id": 19, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.786, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.786, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "size": [ + 2.786, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "size": [ + 2.786, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the tomato and the corn on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.116386134746092, + -0.8279439670055978, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbfb5de3bae4197c1e76c44bb16c886f1e2f3368 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,567 @@ +{ + "layout_id": 51, + "style_id": 36, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the potato and the tomato on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8859231135359309, + -0.7930926717297532, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c50793cf42e2bfe0c3c123b8a150788255e16f22 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 22, + "style_id": 45, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.847989833093168, + 0.65 + ], + "offset": [ + 1.5935050834534161, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.847989833093168, + 0.65 + ], + "offset": [ + 1.5935050834534161, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "size": [ + 1.847989833093168, + 0.65 + ], + "offset": [ + 1.5935050834534161, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "size": [ + 1.847989833093168, + 0.65 + ], + "offset": [ + 1.5935050834534161, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the onion and the cucumber on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7897909838216335, + -0.7698708824256781, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d77be3dc3989bdbcd2198992855caab2dfa3c942 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,615 @@ +{ + "layout_id": 49, + "style_id": 35, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_10/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "dining_dining_area_group", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the apple and the lime on separate cutting boards.", + "fixture_refs": { + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.921390191630824, + -6.448131342800274, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853823117402091 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000105/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000105/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c4d101fb8201c16cfba8eb3b7b4a58436085cf4 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,702 @@ +{ + "layout_id": 39, + "style_id": 45, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_front_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place the carrot and the garlic on separate cutting boards.", + "fixture_refs": { + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.5603545998609767, + -5.571518643856537, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000107/ep_meta.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000107/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d64d7765857ab9c6f19cab93f7aa74d7ab07e9e --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/extras/episode_000107/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 48, + "style_id": 60, + "object_cfgs": [ + { + "name": "cutting_board1", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.5 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "rotation": 1.5707963267948966, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2743252106143346, + 0.650012 + ], + "offset": [ + -1.0014573946928327, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cutting_board2", + "obj_groups": "cutting_board", + "graspable": false, + "placement": { + "fixture": "counter_3_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 1.0, + 0.4 + ], + "rotation": 0, + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2743252106143346, + 0.650012 + ], + "offset": [ + -1.0014573946928327, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable1", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2743252106143346, + 0.650012 + ], + "offset": [ + -1.0014573946928327, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable2", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "placement": { + "fixture": "counter_3_right_group_1", + "reuse_region_from": "cutting_board1", + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2743252106143346, + 0.650012 + ], + "offset": [ + -1.0014573946928327, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place the kiwi and the garlic on separate cutting boards.", + "fixture_refs": { + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.7670439132824285, + -1.2660313050604006, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/embodiment.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/episodes.jsonl b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bcf06d73c0ed31b8003401f7e933f0d2b95e572 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/episodes.jsonl @@ -0,0 +1,109 @@ +{"episode_index": 0, "tasks": ["Place the tomato and the lime on separate cutting boards."], "length": 378} +{"episode_index": 1, "tasks": ["Place the mango and the pear on separate cutting boards."], "length": 411} +{"episode_index": 2, "tasks": ["Place the apple and the kiwi on separate cutting boards."], "length": 424} +{"episode_index": 3, "tasks": ["Place the lime and the apple on separate cutting boards."], "length": 293} +{"episode_index": 4, "tasks": ["Place the lemon wedge and the orange on separate cutting boards."], "length": 454} +{"episode_index": 5, "tasks": ["Place the onion and the bell pepper on separate cutting boards."], "length": 343} +{"episode_index": 6, "tasks": ["Place the kiwi and the garlic on separate cutting boards."], "length": 521} +{"episode_index": 7, "tasks": ["Place the lemon and the lime on separate cutting boards."], "length": 335} +{"episode_index": 8, "tasks": ["Place the garlic and the lime on separate cutting boards."], "length": 556} +{"episode_index": 9, "tasks": ["Place the onion and the orange on separate cutting boards."], "length": 371} +{"episode_index": 10, "tasks": ["Place the lemon and the tangerine on separate cutting boards."], "length": 284} +{"episode_index": 11, "tasks": ["Place the lemon wedge and the broccoli on separate cutting boards."], "length": 322} +{"episode_index": 12, "tasks": ["Place the avocado and the potato on separate cutting boards."], "length": 402} +{"episode_index": 13, "tasks": ["Place the eggplant and the lemon wedge on separate cutting boards."], "length": 499} +{"episode_index": 14, "tasks": ["Place the lemon and the potato on separate cutting boards."], "length": 386} +{"episode_index": 15, "tasks": ["Place the onion and the lemon on separate cutting boards."], "length": 539} +{"episode_index": 16, "tasks": ["Place the orange and the peach on separate cutting boards."], "length": 322} +{"episode_index": 17, "tasks": ["Place the orange and the squash on separate cutting boards."], "length": 462} +{"episode_index": 18, "tasks": ["Place the corn and the orange on separate cutting boards."], "length": 356} +{"episode_index": 19, "tasks": ["Place the mango and the lime on separate cutting boards."], "length": 376} +{"episode_index": 20, "tasks": ["Place the lime and the lemon on separate cutting boards."], "length": 306} +{"episode_index": 21, "tasks": ["Place the mushroom and the lemon on separate cutting boards."], "length": 414} +{"episode_index": 22, "tasks": ["Place the lemon and the squash on separate cutting boards."], "length": 350} +{"episode_index": 23, "tasks": ["Place the garlic and the garlic on separate cutting boards."], "length": 331} +{"episode_index": 24, "tasks": ["Place the eggplant and the onion on separate cutting boards."], "length": 306} +{"episode_index": 25, "tasks": ["Place the carrot and the mushroom on separate cutting boards."], "length": 294} +{"episode_index": 26, "tasks": ["Place the mushroom and the peach on separate cutting boards."], "length": 434} +{"episode_index": 27, "tasks": ["Place the broccoli and the corn on separate cutting boards."], "length": 421} +{"episode_index": 28, "tasks": ["Place the peach and the tomato on separate cutting boards."], "length": 398} +{"episode_index": 29, "tasks": ["Place the kiwi and the lemon on separate cutting boards."], "length": 280} +{"episode_index": 30, "tasks": ["Place the bell pepper and the squash on separate cutting boards."], "length": 349} +{"episode_index": 31, "tasks": ["Place the garlic and the sweet potato on separate cutting boards."], "length": 322} +{"episode_index": 32, "tasks": ["Place the onion and the kiwi on separate cutting boards."], "length": 385} +{"episode_index": 33, "tasks": ["Place the lime and the potato on separate cutting boards."], "length": 415} +{"episode_index": 34, "tasks": ["Place the broccoli and the garlic on separate cutting boards."], "length": 388} +{"episode_index": 35, "tasks": ["Place the cucumber and the apple on separate cutting boards."], "length": 255} +{"episode_index": 36, "tasks": ["Place the cucumber and the carrot on separate cutting boards."], "length": 205} +{"episode_index": 37, "tasks": ["Place the squash and the mango on separate cutting boards."], "length": 391} +{"episode_index": 38, "tasks": ["Place the tomato and the cucumber on separate cutting boards."], "length": 349} +{"episode_index": 39, "tasks": ["Place the onion and the cucumber on separate cutting boards."], "length": 276} +{"episode_index": 40, "tasks": ["Place the orange and the lemon wedge on separate cutting boards."], "length": 424} +{"episode_index": 41, "tasks": ["Place the mushroom and the kiwi on separate cutting boards."], "length": 339} +{"episode_index": 42, "tasks": ["Place the garlic and the mango on separate cutting boards."], "length": 259} +{"episode_index": 43, "tasks": ["Place the orange and the onion on separate cutting boards."], "length": 475} +{"episode_index": 44, "tasks": ["Place the sweet potato and the peach on separate cutting boards."], "length": 467} +{"episode_index": 45, "tasks": ["Place the corn and the lemon on separate cutting boards."], "length": 371} +{"episode_index": 46, "tasks": ["Place the lime and the lime on separate cutting boards."], "length": 374} +{"episode_index": 47, "tasks": ["Place the tangerine and the carrot on separate cutting boards."], "length": 401} +{"episode_index": 48, "tasks": ["Place the potato and the avocado on separate cutting boards."], "length": 279} +{"episode_index": 49, "tasks": ["Place the kiwi and the garlic on separate cutting boards."], "length": 423} +{"episode_index": 50, "tasks": ["Place the peach and the lemon on separate cutting boards."], "length": 361} +{"episode_index": 51, "tasks": ["Place the orange and the potato on separate cutting boards."], "length": 437} +{"episode_index": 52, "tasks": ["Place the kiwi and the lemon wedge on separate cutting boards."], "length": 492} +{"episode_index": 53, "tasks": ["Place the garlic and the lemon on separate cutting boards."], "length": 190} +{"episode_index": 54, "tasks": ["Place the kiwi and the mango on separate cutting boards."], "length": 273} +{"episode_index": 55, "tasks": ["Place the kiwi and the pear on separate cutting boards."], "length": 297} +{"episode_index": 56, "tasks": ["Place the mushroom and the lemon wedge on separate cutting boards."], "length": 450} +{"episode_index": 57, "tasks": ["Place the orange and the bell pepper on separate cutting boards."], "length": 378} +{"episode_index": 58, "tasks": ["Place the eggplant and the squash on separate cutting boards."], "length": 206} +{"episode_index": 59, "tasks": ["Place the broccoli and the broccoli on separate cutting boards."], "length": 374} +{"episode_index": 60, "tasks": ["Place the eggplant and the carrot on separate cutting boards."], "length": 200} +{"episode_index": 61, "tasks": ["Place the eggplant and the garlic on separate cutting boards."], "length": 272} +{"episode_index": 62, "tasks": ["Place the cucumber and the broccoli on separate cutting boards."], "length": 435} +{"episode_index": 63, "tasks": ["Place the kiwi and the garlic on separate cutting boards."], "length": 240} +{"episode_index": 64, "tasks": ["Place the cucumber and the lemon on separate cutting boards."], "length": 293} +{"episode_index": 65, "tasks": ["Place the pear and the mushroom on separate cutting boards."], "length": 232} +{"episode_index": 66, "tasks": ["Place the sweet potato and the carrot on separate cutting boards."], "length": 301} +{"episode_index": 67, "tasks": ["Place the orange and the carrot on separate cutting boards."], "length": 444} +{"episode_index": 68, "tasks": ["Place the kiwi and the cucumber on separate cutting boards."], "length": 337} +{"episode_index": 69, "tasks": ["Place the peach and the tomato on separate cutting boards."], "length": 439} +{"episode_index": 70, "tasks": ["Place the apple and the lime on separate cutting boards."], "length": 416} +{"episode_index": 71, "tasks": ["Place the tangerine and the tangerine on separate cutting boards."], "length": 294} +{"episode_index": 72, "tasks": ["Place the kiwi and the lemon on separate cutting boards."], "length": 579} +{"episode_index": 73, "tasks": ["Place the onion and the avocado on separate cutting boards."], "length": 394} +{"episode_index": 74, "tasks": ["Place the garlic and the corn on separate cutting boards."], "length": 302} +{"episode_index": 75, "tasks": ["Place the apple and the corn on separate cutting boards."], "length": 320} +{"episode_index": 76, "tasks": ["Place the apple and the potato on separate cutting boards."], "length": 391} +{"episode_index": 77, "tasks": ["Place the mushroom and the pear on separate cutting boards."], "length": 487} +{"episode_index": 78, "tasks": ["Place the potato and the bell pepper on separate cutting boards."], "length": 393} +{"episode_index": 79, "tasks": ["Place the corn and the lemon on separate cutting boards."], "length": 483} +{"episode_index": 80, "tasks": ["Place the orange and the tangerine on separate cutting boards."], "length": 340} +{"episode_index": 81, "tasks": ["Place the apple and the tangerine on separate cutting boards."], "length": 433} +{"episode_index": 82, "tasks": ["Place the squash and the peach on separate cutting boards."], "length": 313} +{"episode_index": 83, "tasks": ["Place the peach and the lemon on separate cutting boards."], "length": 912} +{"episode_index": 84, "tasks": ["Place the carrot and the tomato on separate cutting boards."], "length": 221} +{"episode_index": 85, "tasks": ["Place the onion and the pear on separate cutting boards."], "length": 287} +{"episode_index": 86, "tasks": ["Place the lemon wedge and the tangerine on separate cutting boards."], "length": 445} +{"episode_index": 87, "tasks": ["Place the mushroom and the kiwi on separate cutting boards."], "length": 391} +{"episode_index": 88, "tasks": ["Place the squash and the avocado on separate cutting boards."], "length": 455} +{"episode_index": 89, "tasks": ["Place the onion and the pear on separate cutting boards."], "length": 206} +{"episode_index": 90, "tasks": ["Place the orange and the pear on separate cutting boards."], "length": 439} +{"episode_index": 91, "tasks": ["Place the carrot and the pear on separate cutting boards."], "length": 256} +{"episode_index": 92, "tasks": ["Place the bell pepper and the mango on separate cutting boards."], "length": 533} +{"episode_index": 93, "tasks": ["Place the lemon wedge and the cucumber on separate cutting boards."], "length": 265} +{"episode_index": 94, "tasks": ["Place the kiwi and the mango on separate cutting boards."], "length": 436} +{"episode_index": 95, "tasks": ["Place the onion and the eggplant on separate cutting boards."], "length": 251} +{"episode_index": 96, "tasks": ["Place the corn and the bell pepper on separate cutting boards."], "length": 260} +{"episode_index": 97, "tasks": ["Place the mushroom and the peach on separate cutting boards."], "length": 481} +{"episode_index": 98, "tasks": ["Place the banana and the pear on separate cutting boards."], "length": 381} +{"episode_index": 99, "tasks": ["Place the avocado and the kiwi on separate cutting boards."], "length": 227} +{"episode_index": 100, "tasks": ["Place the tomato and the corn on separate cutting boards."], "length": 253} +{"episode_index": 101, "tasks": ["Place the potato and the tomato on separate cutting boards."], "length": 444} +{"episode_index": 102, "tasks": ["Place the onion and the cucumber on separate cutting boards."], "length": 314} +{"episode_index": 103, "tasks": ["Place the apple and the lime on separate cutting boards."], "length": 736} +{"episode_index": 104, "tasks": ["Place the sweet potato and the banana on separate cutting boards."], "length": 269} +{"episode_index": 105, "tasks": ["Place the carrot and the garlic on separate cutting boards."], "length": 273} +{"episode_index": 106, "tasks": ["Place the tangerine and the tangerine on separate cutting boards."], "length": 272} +{"episode_index": 107, "tasks": ["Place the kiwi and the garlic on separate cutting boards."], "length": 305} +{"episode_index": 108, "tasks": ["Place the garlic and the carrot on separate cutting boards."], "length": 271} diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10d9458270a509aa3f55ba795820bb7b92168776 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,109 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5530080003925398]], [[0.4833208857517617]], [[0.4108400741277956]]], "std": [[[0.18233919049809205]], [[0.1685656140555957]], [[0.1754450475921634]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5751790615904565]], [[0.5671105430453431]], [[0.5017727218328738]]], "std": [[[0.16205789136481563]], [[0.14924564847318023]], [[0.15494163875104078]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.06666666666666667]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5673732084386489]], [[0.5620537300857843]], [[0.4946369186102175]]], "std": [[[0.16562983326285702]], [[0.15851721369135174]], [[0.1680191798190098]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [378]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [378]}, "observation.state": {"min": [2.7988779785253595, -0.8141568762195, 0.6999947617130791, 0.0, 0.0, 0.7070987820625305, 0.7063435316085815, 0.18716043980072206, -0.23384655391374576, 0.2429607389176529, -0.9976167678833008, -0.13329707086086273, -0.3448598086833954, 5.089552723802626e-05, 0.020566135295624708, -0.04045952389494421], "max": [2.799844777317678, -0.81401369667589, 0.7007664643778396, 0.0, 0.0, 0.7078691720962524, 0.7071148157119751, 0.3626672842216498, 0.13260564960984667, 0.5864287736100127, 0.9971694350242615, 0.1988145411014557, 0.18321330845355988, 0.09546489268541336, 0.040007088926720245, -0.020500425510758327], "mean": [2.7991950549384836, -0.8140664077343169, 0.7004227800076168, 0.0, 0.0, 0.7076140348873441, 0.706599051832522, 0.28226197540515463, -0.02674207966338721, 0.3350709615196901, -0.5006896545962681, 0.07018802025251919, -0.10118081620229143, 0.03303194814853433, 0.036715862417816277, -0.03769664956185601], "std": [0.00034509069168800715, 3.664532717921594e-05, 0.00023383402205189626, 0.0, 0.0, 0.00027566775062906097, 0.0002759325192086273, 0.04547605180288983, 0.09057648041812756, 0.07103617842695392, 0.83992729428518, 0.08444704298760224, 0.1405738361180061, 0.02616642894183396, 0.004928878713681931, 0.0033785958286161786], "count": [378]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7392857142857142, -0.7928571428571428, -0.6571428571428571, -0.10428571428571429, -0.19142857142857142, -0.1, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.42142857142857143, 1.0, 0.9285714285714287, 0.10571428571428572, 0.16857142857142857, 0.02142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.013973922902494327, 0.01962396069538927, -0.09403817082388516, 0.001421012849584279, -0.012078609221466367, -0.010279667422524563, -0.5661375661375662], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1678551445507149, 0.30704267257131285, 0.32910203467717924, 0.03530055057119462, 0.047046199236435646, 0.022323406651886285, 0.8243107764719747], "count": [378]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.042328041046857834], "std": [0.20133647322654724], "count": [378]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026455026455026454], "std": [0.051366369944305816], "count": [378]}, "timestamp": {"min": [0.0], "max": [18.85], "mean": [9.424999999999999], "std": [5.455940951537752], "count": [378]}, "frame_index": {"min": [0], "max": [377], "mean": [188.5], "std": [109.11881903075503], "count": [378]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [378]}, "index": {"min": [0], "max": [377], "mean": [188.5], "std": [109.11881903075503], "count": [378]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [378]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5541240294213389]], [[0.46817765000287226]], [[0.4163915231742111]]], "std": [[[0.1913160772641216]], [[0.248610266251879]], [[0.24872739572152294]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6622437935623467]], [[0.6070837067248774]], [[0.5457952946681602]]], "std": [[[0.21143388607188995]], [[0.2267602147132434]], [[0.24411669772101457]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.671568239698223]], [[0.6202133059034161]], [[0.5628650668275123]]], "std": [[[0.21413592107594193]], [[0.2256301582072141]], [[0.2404219955008705]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [411]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [411]}, "observation.state": {"min": [1.9360827978978956, -0.9131613581087468, 0.6999980666714142, 0.0, 0.0, 0.7070426344871521, 0.7069942355155945, 0.20226989498551273, -0.24482600128824905, 0.25528886995411426, -0.9999734163284302, -0.04885735362768173, -0.19209188222885132, 5.062882701167837e-05, 0.020558817201601843, -0.040001539676930785], "max": [1.936266852124748, -0.9129223524867078, 0.7003170496226873, 0.0, 0.0, 0.7072193622589111, 0.7071709036827087, 0.3751368376996901, 0.1723986118378622, 0.5959786412917099, 0.9999837279319763, 0.015793144702911377, 0.19145169854164124, 0.03494156524538994, 0.03998150293489068, -0.02050774260275139], "mean": [1.9361855855969734, -0.9130003914613019, 0.7000942694061157, 0.0, 0.0, 0.7071341248614365, 0.7070794015615236, 0.30519147831195276, -0.09669016546480823, 0.3383239963776369, 0.33227408338347203, -0.010516408064975936, 0.004172633848538415, 0.011898479174821577, 0.03568574848688134, -0.03598112183784403], "std": [4.410931940747606e-05, 6.13018003281245e-05, 8.407935634092806e-05, 0.0, 0.0, 3.762637519324578e-05, 3.760599505096551e-05, 0.05374794859537353, 0.14242250075413337, 0.07613972476910379, 0.9392735941812469, 0.018907835190681472, 0.08157425092645361, 0.008809640578459663, 0.004633046751406843, 0.004170264210276557], "count": [411]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.37142857142857144, -0.6285714285714287, -0.6, -0.04285714285714286, -0.13428571428571429, -0.06, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4285714285714286, 0.8928571428571429, 0.6071428571428572, 0.06285714285714286, 0.17142857142857143, 0.08285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02194994786235661, 0.016996871741397232, -0.03209940910670838, 0.0009593326381647545, 0.0031074035453597507, -0.0004379562043795623, -0.19708029197080293], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13625598959022953, 0.33307331117541544, 0.2646330081032087, 0.009612032358838798, 0.04578002891574288, 0.014524485689903234, 0.9803873512631112], "count": [411]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06326033920049667], "std": [0.24343064427375793], "count": [411]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024330900243309003], "std": [0.04926631808106226], "count": [411]}, "timestamp": {"min": [0.0], "max": [20.5], "mean": [10.25], "std": [5.93225645658266], "count": [411]}, "frame_index": {"min": [0], "max": [410], "mean": [205.0], "std": [118.64512913165322], "count": [411]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [411]}, "index": {"min": [378], "max": [788], "mean": [583.0], "std": [118.64512913165322], "count": [411]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [411]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5662914811676624]], [[0.49637135584214154]], [[0.45423884073893234]]], "std": [[[0.19338583642719281]], [[0.19629758999931735]], [[0.21558725468127402]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43042977067536]], [[0.4249880742091759]], [[0.42204522824754903]]], "std": [[[0.2182651410754825]], [[0.2159321624463139]], [[0.2161310928328363]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42789234595205267]], [[0.42321694467581955]], [[0.42085316736557904]]], "std": [[[0.2149112217049175]], [[0.21236074723955078]], [[0.21204384586464103]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [424]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [424]}, "observation.state": {"min": [0.8170134680342884, -1.45908309162561, 0.6999968750985746, 0.0, 0.0, -1.0, 3.3420724321331363e-06, 0.14638369244875926, -0.25126469905658433, 0.22890604241431578, -0.9967113733291626, -0.2192731499671936, -0.15075942873954773, 6.750259217369603e-06, 0.020543531104493896, -0.04000509981780119], "max": [0.8183286553544948, -1.4581642313135683, 0.7021000273544178, 0.0, 0.0, 1.0, 0.0005702562048099935, 0.341193156892338, 0.22923411148065798, 0.6093437192354707, 0.9967805743217468, 0.1543818563222885, 0.1884179264307022, 0.05588182061910629, 0.039979319232943185, -0.02052302810968096], "mean": [0.8175738359949092, -1.4586039276721539, 0.7008897644652459, 0.0, 0.0, -0.4198113095085576, 0.00022122634188025467, 0.26616934658617797, 0.015174836287509937, 0.3366195357315828, 0.30073665982147435, -0.04173232931292282, 0.042664974427096686, 0.02142916660204826, 0.03515162748866495, -0.03748853477775797], "std": [0.00038830075682223694, 0.00034695453018881143, 0.0006462629499592892, 0.0, 0.0, 0.9076113936682372, 0.00013721697281832357, 0.04703689809680419, 0.1427561588546672, 0.08286730032669438, 0.9377548426821724, 0.12054620074403828, 0.10613259002657835, 0.01888657669786577, 0.005689694158718151, 0.003074614944323659], "count": [424]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7392857142857142, -0.6482142857142857, -0.4875000000000001, -0.12642857142857145, -0.15642857142857142, -0.15, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6857142857142857, 0.942857142857143, 0.8357142857142857, 0.05142857142857143, 0.10285714285714286, 0.165, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01483322102425875, 0.0398753369272237, -0.05779144204851755, 0.00031334231805929893, 0.006898584905660384, 0.006559973045822101, -0.28773584905660377], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2213226133984583, 0.2625467498409986, 0.26203815334076414, 0.018511800581198484, 0.04296221134551148, 0.04892849335661074, 0.957709810520743], "count": [424]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04245283082127571], "std": [0.20161990821361542], "count": [424]}, "next.done": {"min": [false], "max": [true], "mean": [0.0023584905660377358], "std": [0.0485069900971772], "count": [424]}, "timestamp": {"min": [0.0], "max": [21.15], "mean": [10.575000000000001], "std": [6.119895832446824], "count": [424]}, "frame_index": {"min": [0], "max": [423], "mean": [211.5], "std": [122.39791664893647], "count": [424]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [424]}, "index": {"min": [789], "max": [1212], "mean": [1000.5], "std": [122.39791664893647], "count": [424]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [424]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5990642041973039]], [[0.5198067160213695]], [[0.44264108336205576]]], "std": [[[0.19763482171071436]], [[0.21873532769382725]], [[0.24432783759812118]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.07450980392156863]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6224262096928616]], [[0.6324459844851027]], [[0.600986401127834]]], "std": [[[0.1667511694372497]], [[0.13692912069180338]], [[0.138559616902734]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.0784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6045497251024433]], [[0.6117299140481388]], [[0.5802826741536458]]], "std": [[[0.18122415551734092]], [[0.16064842231938]], [[0.1652500582564935]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [293]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [293]}, "observation.state": {"min": [2.8498313849321497, -2.4406475587416097, 0.6999993342714581, 0.0, 0.0, -0.7071067690849304, 0.7071067094802856, 0.23698966420292678, -0.30753968740673576, 0.247160781567748, -0.9926688075065613, -0.6255422830581665, -0.18884405493736267, 7.134903171390761e-06, 0.02054986211964942, -0.040396536752595184], "max": [2.8507890755299625, -2.440569114106254, 0.7004240659566997, 0.0, 0.0, -0.7061540484428406, 0.7080582976341248, 0.5517444879886333, 0.019864932092636955, 0.6038516897971522, 0.9920970797538757, 0.624472439289093, 0.1450287103652954, 0.15737956762313843, 0.040004633842386034, -0.020516699169643857], "mean": [2.8502883861662767, -2.440609702652135, 0.7001973293372026, 0.0, 0.0, -0.7066614239289085, 0.7075516748346973, 0.3887915233540392, -0.1400747869153567, 0.32733467406081906, -0.525554872616973, 0.09274599340079995, -0.0678257031299479, 0.04480487011501639, 0.036702597245328594, -0.03752003836733118], "std": [0.00034531874210761527, 2.4827803986486305e-05, 0.0001712024323873817, 0.0, 0.0, 0.0003414639447501779, 0.0003410338321004306, 0.1161679348629815, 0.08410744292998303, 0.0782562040165258, 0.7446068712853078, 0.3815911832712082, 0.07997701241136156, 0.04620510876117606, 0.004212962039488318, 0.0034353521518360546], "count": [293]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8428571428571429, -0.8321428571428572, -0.7107142857142857, -0.04857142857142857, -0.33571428571428574, -0.14142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7571428571428572, 0.9928571428571428, 0.6392857142857143, 0.1357142857142857, 0.11857142857142858, 0.09142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.045185275475377915, -0.08348366650414432, -0.06921014139444168, 0.0063822525597269615, 0.008366650414431982, -0.036299366162847395, -0.5221843003412969], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22619864945423943, 0.3170131684771723, 0.25053861224385343, 0.029024796711161926, 0.059577695847199456, 0.04528095243120872, 0.8528326661643948], "count": [293]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05460750684142113], "std": [0.22721253335475922], "count": [293]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034129692832764505], "std": [0.058320844677935364], "count": [293]}, "timestamp": {"min": [0.0], "max": [14.6], "mean": [7.299999999999999], "std": [4.2290660907581], "count": [293]}, "frame_index": {"min": [0], "max": [292], "mean": [146.0], "std": [84.581321815162], "count": [293]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [293]}, "index": {"min": [1213], "max": [1505], "mean": [1359.0], "std": [84.581321815162], "count": [293]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [293]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[0.8980392156862745]], [[0.788235294117647]]], "mean": [[[0.6710565227433747]], [[0.5497736565085019]], [[0.44135150206322765]]], "std": [[[0.23796667036936905]], [[0.20966482620536112]], [[0.19678392155522104]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5110013343960631]], [[0.4545844014485677]], [[0.4283132916618796]]], "std": [[[0.2144327579414589]], [[0.19599685698162117]], [[0.1881035105063509]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5263935133990119]], [[0.45839351639093134]], [[0.42230466176949294]]], "std": [[[0.22027887373865554]], [[0.20261295806909638]], [[0.19566490851979515]]], "count": [100]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [454]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [454]}, "observation.state": {"min": [1.6076537057301115, -0.8032975764774617, 0.6999987219657522, 0.0, 0.0, 0.7066830396652222, 0.7063935995101929, 0.2561069304314255, -0.10176208070513293, 0.22838341682651964, -0.9998263716697693, -0.039231643080711365, -0.19334650039672852, 0.004300902131944895, 0.006811548577519188, -0.04057600701105627], "max": [1.6086580280436809, -0.801927017169434, 0.7031443049017452, 0.0, 0.0, 0.7078191637992859, 0.7075302600860596, 0.5147929535962361, 0.19523343706052398, 0.6016275598195361, -0.9802939295768738, 0.15741761028766632, 0.038744132965803146, 0.03232473507523537, 0.04035877960480059, -0.001271833610590415], "mean": [1.6081653321892888, -0.8023246070053638, 0.7011286026206809, 0.0, 0.0, 0.7072127013742135, 0.7070006843705534, 0.41562598972328824, 0.010223434109214715, 0.29325119107298087, -0.9949969430064315, 0.01027463584531115, -0.052841050255200556, 0.014354295384483453, 0.034291149617221295, -0.034202396793562816], "std": [0.0002446682439870395, 0.00043246431772810123, 0.000990942395989315, 0.0, 0.0, 0.0003104573274602895, 0.00031058500837769025, 0.07119642878254681, 0.0677963406819552, 0.07107463794412004, 0.004914933824468376, 0.061518617760989235, 0.05494768623895241, 0.007024704150625974, 0.01090270910252426, 0.01134357310974125], "count": [454]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8857142857142857, -0.40714285714285714, -0.7357142857142858, -0.02, -0.15714285714285714, -0.19428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.55, 0.6428571428571428, 0.5, 0.037142857142857144, 0.21142857142857144, 0.12571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00928256765261166, 0.03404657016991819, -0.07820956576463184, 0.0002265575833857773, 0.0029578351164254242, -0.002674638137193205, -0.47577092511013214], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24605017415907268, 0.16217459452039096, 0.22964413434000674, 0.0032102320413088374, 0.04730276598607553, 0.037757214630095244, 0.8795692279859788], "count": [454]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.046255506575107574], "std": [0.21003791689872742], "count": [454]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022026431718061676], "std": [0.04688060936958758], "count": [454]}, "timestamp": {"min": [0.0], "max": [22.65], "mean": [11.325000000000001], "std": [6.55290965907512], "count": [454]}, "frame_index": {"min": [0], "max": [453], "mean": [226.5], "std": [131.0581931815024], "count": [454]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [454]}, "index": {"min": [1506], "max": [1959], "mean": [1732.5], "std": [131.0581931815024], "count": [454]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [454]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3815241573558134]], [[0.31340311147652417]], [[0.2734636816884957]]], "std": [[[0.2365700148665551]], [[0.18131325907586204]], [[0.15314178905120057]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5210527116364123]], [[0.4782421869016161]], [[0.44720927339441635]]], "std": [[[0.24759027176822468]], [[0.25582288709006384]], [[0.27278880206713396]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5161063388001685]], [[0.4797825095980775]], [[0.4548501736510034]]], "std": [[[0.25259724538792916]], [[0.26582952419802447]], [[0.2834605369708679]]], "count": [100]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [343]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [343]}, "observation.state": {"min": [3.319042267492798, -1.6984724672892102, 0.6999969761198004, 0.0, 0.0, -0.00010487526742508635, 1.0, 0.25284583917522596, -0.3268090764117897, 0.263124825014718, -0.9987400770187378, -0.1235933005809784, -0.15908940136432648, 1.3885602129448671e-05, 0.0115669476818001, -0.041022396114903936], "max": [3.319295093991635, -1.6981169199173298, 0.7004622182587075, 0.0, 0.0, 0.00021517073037102818, 1.0, 0.4490447044299244, 0.1655012988871809, 0.5910859360254018, 0.9999489188194275, 0.06610880047082901, 0.10500765591859818, 0.062284041196107864, 0.04000210129748482, -0.020541565106161338], "mean": [3.31924393937462, -1.698348364354862, 0.7000444713768142, 0.0, 0.0, 3.0174046546300905e-05, 1.0, 0.35493105656668866, -0.03429592471046531, 0.33863933826114506, -0.3003856817765417, -0.027344638927033274, -0.06774985235761077, 0.025158461012390842, 0.03637987088450014, -0.03694980730396818], "std": [5.512645944118992e-05, 7.839399894529395e-05, 0.00012097172041404028, 0.0, 0.0, 7.084613911443954e-05, 0.0, 0.05784767252672419, 0.12542046067692744, 0.08117040562140487, 0.9460576231713836, 0.056699511383225557, 0.07357740207165753, 0.01200935175461298, 0.005386363971081667, 0.004339070968691849], "count": [343]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7428571428571429, -1.0, -0.7285714285714285, -0.10571428571428572, -0.12857142857142856, -0.1, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4857142857142857, 0.9571428571428572, 0.7214285714285715, 0.05428571428571429, 0.12857142857142856, 0.08571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01141191170345692, -0.04589754269054558, -0.05035401915868387, -0.0006164098292378179, 0.002973760932944605, 0.004847980008329865, -0.40524781341107874], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20775716337182343, 0.3606103751404311, 0.25728574326054604, 0.014271575665222613, 0.03544527711745868, 0.027151061463017125, 0.9142068746873108], "count": [343]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06122449040412903], "std": [0.23974166810512543], "count": [343]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029154518950437317], "std": [0.053916157460370054], "count": [343]}, "timestamp": {"min": [0.0], "max": [17.1], "mean": [8.55], "std": [4.950757517794624], "count": [343]}, "frame_index": {"min": [0], "max": [342], "mean": [171.0], "std": [99.0151503558925], "count": [343]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [343]}, "index": {"min": [1960], "max": [2302], "mean": [2131.0], "std": [99.0151503558925], "count": [343]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [343]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5030611096193602]], [[0.3588613461753322]], [[0.2795077443830528]]], "std": [[[0.11762147255119919]], [[0.12220249199788578]], [[0.13194060953939066]]], "count": [109]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6069872056522222]], [[0.533452727936609]], [[0.47726302417110766]]], "std": [[[0.18408106820880615]], [[0.19571215331288622]], [[0.1989666645413947]]], "count": [109]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.610128964243829]], [[0.5187933334238046]], [[0.45043098187570974]]], "std": [[[0.2096877502621653]], [[0.23395473311905943]], [[0.2386939325009744]]], "count": [109]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [521]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [521]}, "observation.state": {"min": [0.7002635117736403, -4.503672625667767, 0.6999971238129137, 0.0, 0.0, -0.7072157263755798, 0.706997811794281, 0.21960811249372103, -0.4913881255797644, 0.23733773192009466, -0.9999092817306519, -0.06010523438453674, -0.18774746358394623, 2.7289539502817206e-05, 0.013288878672232815, -0.04001618004136523], "max": [0.7004350503210864, -4.503296618933753, 0.7007990972277401, 0.0, 0.0, -0.7070383429527283, 0.7071753144264221, 0.45078706780880307, -0.013069024691628073, 0.606435772787998, 0.999589204788208, 0.0424170047044754, 0.14130163192749023, 0.0761922150850296, 0.04000312158000988, -0.019967888528742376], "mean": [0.7003408013368221, -4.503483885185224, 0.7002841399264386, 0.0, 0.0, -0.7071367099509358, 0.7070768324518845, 0.32009501542237206, -0.2488063964154455, 0.30589008016741426, -0.5871805129948138, -0.023425617905944985, 0.007286030870932467, 0.018676465756612262, 0.0337559781580015, -0.03440771464668249], "std": [4.224699889422639e-05, 0.00016038047674080572, 0.0002696962396844812, 0.0, 0.0, 5.123434863453132e-05, 5.120566680894153e-05, 0.08041023211008871, 0.12561397015728334, 0.07628899002088019, 0.8053919077503967, 0.025773267913705884, 0.06879105613738659, 0.014689954061129891, 0.008071514563849427, 0.007471545155960414], "count": [521]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.31428571428571433, -0.6642857142857144, -0.6428571428571428, -0.10857142857142858, -0.20285714285714287, -0.05714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5714285714285715, 0.8500000000000001, 0.8357142857142857, 0.11142857142857143, 0.19428571428571428, 0.07714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.018467233342473275, -0.06635590896627364, -0.044968467233342455, 0.0003948450781464226, 0.007370441458733212, 0.0003729092404716203, -0.31285988483685223], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13018683603893588, 0.22959848514770306, 0.24215783440945968, 0.020568156940599054, 0.04248996247083573, 0.009117187676565719, 0.9497992906187483], "count": [521]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04414587467908859], "std": [0.20541912317276], "count": [521]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019193857965451055], "std": [0.043768730330101265], "count": [521]}, "timestamp": {"min": [0.0], "max": [26.0], "mean": [13.0], "std": [7.519973404208289], "count": [521]}, "frame_index": {"min": [0], "max": [520], "mean": [260.0], "std": [150.3994680841658], "count": [521]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [521]}, "index": {"min": [2303], "max": [2823], "mean": [2563.0], "std": [150.3994680841658], "count": [521]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [521]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6762214696547565]], [[0.6371565581677007]], [[0.5871885250315947]]], "std": [[[0.20706563920935284]], [[0.23259054692276418]], [[0.28672211195102065]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43601996567670037]], [[0.4776627819584865]], [[0.47970521036783853]]], "std": [[[0.31436141747883667]], [[0.26750172843256786]], [[0.26335567371751223]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4422839271695006]], [[0.487173485251034]], [[0.4901870230880438]]], "std": [[[0.31882135081845375]], [[0.2695101631114414]], [[0.26288538280682494]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [335]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [335]}, "observation.state": {"min": [2.2990717005304737, -3.550561188624508, 0.6999978007776297, 0.0, 0.0, -1.0, 1.2974896890227683e-07, 0.13942027111727961, -0.2781720706962738, 0.24552062790753626, -0.9975305795669556, -0.1945911943912506, -0.27460771799087524, 0.0004026777751278132, 0.02055434992393068, -0.04000966403885118], "max": [2.2991765645258324, -3.550386552829755, 0.7000961623949471, 0.0, 0.0, 1.0, 0.00014822719094809145, 0.3991902488858483, 0.21528688198726798, 0.6020368769074627, 0.9964558482170105, 0.23549577593803406, 0.18105565011501312, 0.11871080845594406, 0.040001704057813135, -0.02051220915650797], "mean": [2.2991222649695873, -3.550468820642729, 0.7000246844742146, 0.0, 0.0, -0.04477611940298507, 3.9349453907819756e-05, 0.2586474782059862, -0.02997143121314791, 0.33516730146094065, 0.005569206066985628, -0.003999849130858236, -0.02819210388306737, 0.03922666483662967, 0.03605855483332917, -0.03650054350544083], "std": [2.9226004388787068e-05, 3.440337196826019e-05, 2.653678038676099e-05, 0.0, 0.0, 0.9989970466078528, 3.790778846818881e-05, 0.06895770219630117, 0.14037552991276112, 0.0745276000331874, 0.9893098739587031, 0.07990598710466223, 0.10736425846094343, 0.031199126832882475, 0.004907547668323303, 0.004294378591445405], "count": [335]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7821428571428571, -0.8285714285714285, -0.7285714285714285, -0.11571428571428573, -0.3142857142857143, -0.09857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6357142857142857, 1.0, 0.7535714285714287, 0.2057142857142857, 0.07571428571428573, 0.03571428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.006620469083155642, 0.00801705756929636, -0.12745202558635402, 0.0047803837953091675, -0.027867803837953096, -0.012085287846481874, -0.43283582089552236], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.260853340318246, 0.39528749742215313, 0.3354733115070178, 0.04753118045086003, 0.059678074907729355, 0.027688182150989504, 0.9014727683905387], "count": [335]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04776119440793991], "std": [0.21326051652431488], "count": [335]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029850746268656717], "std": [0.05455422949999124], "count": [335]}, "timestamp": {"min": [0.0], "max": [16.7], "mean": [8.35], "std": [4.835286961494633], "count": [335]}, "frame_index": {"min": [0], "max": [334], "mean": [167.0], "std": [96.70573922989266], "count": [335]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [335]}, "index": {"min": [2824], "max": [3158], "mean": [2991.0], "std": [96.70573922989266], "count": [335]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [335]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.10588235294117647]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6432118649740256]], [[0.5750067774848426]], [[0.4941291811706522]]], "std": [[[0.20145081987038285]], [[0.15986684889546232]], [[0.16969986378732071]]], "count": [114]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5687680187035067]], [[0.4619234251082046]], [[0.39749741844594544]]], "std": [[[0.16300604243156794]], [[0.23602705402214644]], [[0.2628839585750515]]], "count": [114]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5640524597482908]], [[0.4390789765527579]], [[0.3733499532882643]]], "std": [[[0.16093688449981589]], [[0.23755745990107413]], [[0.26985851673043887]]], "count": [114]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [556]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [556]}, "observation.state": {"min": [5.349707507624179, -0.9585617354227949, 0.6999982612901131, 0.0, 0.0, 0.7064230442047119, 0.7071273922920227, 0.2284776192455965, -0.28606599503223595, 0.25657489874530826, -0.9990683197975159, -0.23343095183372498, -0.11923635005950928, 0.0002574762620497495, 0.02055897257341829, -0.040003969971174044], "max": [5.350448760427136, -0.9573408531924759, 0.7019715025796326, 0.0, 0.0, 0.7070861458778381, 0.7077897787094116, 0.5174404248002947, 0.14069396205348195, 0.5802615649155384, 0.9987866282463074, 0.037665367126464844, 0.16556952893733978, 0.03633935749530792, 0.04010157522218783, -0.020507588010835635], "mean": [5.3500520424950855, -0.9578044723038789, 0.7008396008209169, 0.0, 0.0, 0.7068141705269436, 0.7073992140215936, 0.3472931898420823, -0.06984403009219496, 0.311028010201984, -0.1160089947122464, -0.08335025822274762, 0.007831843931683534, 0.02400250479130061, 0.03703036303656894, -0.037275348070641416], "std": [0.000264911890524641, 0.00039660031721910834, 0.0006639559667956496, 0.0, 0.0, 0.0001961697747133223, 0.0001959949755614895, 0.10214045816737681, 0.1492666309681005, 0.06177804975676672, 0.9824863121872216, 0.0917768899768899, 0.07216172671115906, 0.00689383370890449, 0.0042243956911700645, 0.0038539959624766308], "count": [556]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7857142857142857, -0.7000000000000001, -0.55, -0.05142857142857143, -0.11142857142857143, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8285714285714285, 0.7642857142857143, 0.7785714285714286, 0.04, 0.09428571428571429, 0.13714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.019617163412127443, -0.018409558067831445, -0.049820143884892094, -0.00012332990750256947, 0.0021017471736896197, -0.0004676258992805757, -0.38848920863309355], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22299722083078108, 0.22908826669201515, 0.1736346488751886, 0.005922422210950987, 0.017879075900185212, 0.0354508487868893, 0.9214532732459285], "count": [556]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028776979073882103], "std": [0.167179137468338], "count": [556]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017985611510791368], "std": [0.042371291328740096], "count": [556]}, "timestamp": {"min": [0.0], "max": [27.75], "mean": [13.875000000000002], "std": [8.025155761728241], "count": [556]}, "frame_index": {"min": [0], "max": [555], "mean": [277.5], "std": [160.50311523456483], "count": [556]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [556]}, "index": {"min": [3159], "max": [3714], "mean": [3436.5], "std": [160.50311523456483], "count": [556]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [556]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.11372549019607843]], [[0.06274509803921569]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.654456849341299]], [[0.6077010085161993]], [[0.5707522343654258]]], "std": [[[0.13455090600235842]], [[0.14204333425168728]], [[0.19023651880295628]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5445020141601562]], [[0.5487825855928309]], [[0.5374315562528722]]], "std": [[[0.24882937783461945]], [[0.2322886971594715]], [[0.2165775637158337]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5564301117541743]], [[0.5585786587584253]], [[0.5447217131969976]]], "std": [[[0.2502415745717275]], [[0.23220032105521474]], [[0.21685075851212915]]], "count": [100]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [371]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [371]}, "observation.state": {"min": [2.953860162024547, -0.8068498086751154, 0.6999994613854306, 0.0, 0.0, 0.7070729732513428, 0.707055389881134, 0.23806969182383553, -0.420284894874142, 0.23759880458816418, -0.9987606406211853, -0.19871918857097626, -0.17004238069057465, 0.00014407328853849322, 0.020548607884237142, -0.040686684369947476], "max": [2.954027647356194, -0.8067605071158824, 0.7028630755697322, 0.0, 0.0, 0.707158088684082, 0.7071405649185181, 0.42923393636029333, 0.18752276950648517, 0.6087102912790188, 0.9986765384674072, 0.20181819796562195, 0.1394108384847641, 0.09654022008180618, 0.04051623048211721, -0.02051795291358615], "mean": [2.953964622165762, -0.8067805323920957, 0.7014065583064247, 0.0, 0.0, 0.707106572277141, 0.7071069397052343, 0.3470634934144866, -0.1358519161940105, 0.3326897303732641, -0.2510040905276399, 0.03289965501009936, -0.0275044608911414, 0.024662960727223397, 0.03788360306918961, -0.037817421656345634], "std": [1.693981462299434e-05, 1.0470569022536427e-05, 0.0009171353690618234, 0.0, 0.0, 1.0749769280746584e-05, 1.07487037252523e-05, 0.055364498119354615, 0.17086059349156613, 0.08657663982592524, 0.9574895208708232, 0.10512280752607078, 0.07902416351060823, 0.02163334092090879, 0.0028317204433397757, 0.003019013490817368], "count": [371]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.525, -0.7607142857142857, -0.6714285714285714, -0.08428571428571428, -0.20714285714285718, -0.08, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35000000000000003, 0.8321428571428572, 0.9214285714285714, 0.11714285714285716, 0.15428571428571428, 0.012857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01756834809395454, -0.07699268386599922, -0.07823450134770896, 0.004328070850981901, 0.00521370812475934, -0.009407008086253372, -0.3746630727762803], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18878798545073475, 0.34751300561459336, 0.33798479381382424, 0.026317808863852776, 0.04366561573190074, 0.02014743985202325, 0.9271610334229083], "count": [371]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07277628034353256], "std": [0.25976893305778503], "count": [371]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026954177897574125], "std": [0.05184739639264513], "count": [371]}, "timestamp": {"min": [0.0], "max": [18.5], "mean": [9.25], "std": [5.354904294196116], "count": [371]}, "frame_index": {"min": [0], "max": [370], "mean": [185.0], "std": [107.09808588392231], "count": [371]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [371]}, "index": {"min": [3715], "max": [4085], "mean": [3900.0], "std": [107.09808588392231], "count": [371]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [371]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6919704093185126]], [[0.5554777221679688]], [[0.4389588258032705]]], "std": [[[0.18777304168712045]], [[0.17421412242465986]], [[0.18080251130498853]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5860529635560279]], [[0.48056993910845586]], [[0.41943420709348195]]], "std": [[[0.20305711968399187]], [[0.2089798357410056]], [[0.20169811844109894]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5887649691712622]], [[0.4828043685613894]], [[0.4213716418696385]]], "std": [[[0.20403321705882324]], [[0.21222336590803184]], [[0.20784676854428932]]], "count": [100]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [284]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [284]}, "observation.state": {"min": [2.981754003395788, -1.9900636951777717, 0.6999979898956051, 0.0, 0.0, -0.7072075605392456, 0.70700603723526, 0.19849782364412505, -0.24833869298299183, 0.23664772993484162, -0.9974114894866943, -0.12006238102912903, -0.24762091040611267, 0.00010461450438015163, 0.020538075914810005, -0.039994162383462296], "max": [2.9818911539516013, -1.989859558143067, 0.7002146738919907, 0.0, 0.0, -0.7070070505142212, 0.7072065472602844, 0.5202093363856881, 0.1300069139716844, 0.61075346015128, 0.9985417127609253, 0.10268837213516235, 0.24463197588920593, 0.07462308555841446, 0.03996745427095864, -0.020528484968545365], "mean": [2.9818274527367477, -1.989965488689873, 0.7000700795714815, 0.0, 0.0, -0.7070996003671431, 0.7071139250003117, 0.3273609253168006, -0.053003315987283604, 0.3570864985162957, -0.35962321913578144, -0.038553798190829616, -0.058312070883915455, 0.015962784302502486, 0.03449190328027646, -0.0350012225644886], "std": [3.1931390680588896e-05, 6.083720306782442e-05, 6.47533894237855e-05, 0.0, 0.0, 3.790467384190915e-05, 3.790331558853748e-05, 0.08933039319265611, 0.11932770763504645, 0.09227138039360643, 0.9199865207436785, 0.05304938533732439, 0.1270927996972796, 0.013697493324258625, 0.006019546890048837, 0.00540835487290342], "count": [284]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9321428571428573, -0.7714285714285715, -0.594642857142857, -0.10928571428571428, -0.255, -0.12000000000000001, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6321428571428571, 0.7607142857142858, 1.0, 0.09642857142857142, 0.15857142857142859, 0.10500000000000001, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.029973591549295804, -0.06949195171026158, -0.051106639839034275, -0.00036217303822937613, -0.0003697183098591538, -0.0012826961770623763, -0.323943661971831], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.30381248377552056, 0.24951870465994935, 0.39909009290202807, 0.02505889103916255, 0.07064686581352293, 0.030675310858508515, 0.9460763731688271], "count": [284]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05985915660858154], "std": [0.2372256964445114], "count": [284]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035211267605633804], "std": [0.05923452056781944], "count": [284]}, "timestamp": {"min": [0.0], "max": [14.15], "mean": [7.075000000000001], "std": [4.099161499624039], "count": [284]}, "frame_index": {"min": [0], "max": [283], "mean": [141.5], "std": [81.98322999248077], "count": [284]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [284]}, "index": {"min": [4086], "max": [4369], "mean": [4227.5], "std": [81.98322999248077], "count": [284]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [284]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6409163297765395]], [[0.5622650230258119]], [[0.5019775175206802]]], "std": [[[0.19671793779062777]], [[0.26287957574458287]], [[0.3235948989228604]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6769977171654795]], [[0.6360873060039446]], [[0.5974184522441789]]], "std": [[[0.16787456206716295]], [[0.19192681346314502]], [[0.21706484652344274]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6743082341212853]], [[0.6316514371984145]], [[0.5909309818043429]]], "std": [[[0.1681177645763068]], [[0.19243326765675828]], [[0.2184085685538679]]], "count": [100]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [322]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [322]}, "observation.state": {"min": [3.463549937934776, -2.2913917856231865, 0.6999966500461605, 0.0, 0.0, -0.7071996331214905, 0.7070139646530151, 0.2110040811393472, -0.15280315818007573, 0.2392327189747917, -0.9928989410400391, -0.11436741054058075, -0.257036417722702, 5.235513526713476e-06, 0.004952483143290197, -0.04000227048253078], "max": [3.4637848758632197, -2.291145580197509, 0.7007582421499647, 0.0, 0.0, -0.706963300704956, 0.7072502374649048, 0.47280379645130965, 0.14913195010425495, 0.5926673358162183, 0.993179202079773, 0.42903780937194824, 0.1620785892009735, 0.1262122392654419, 0.04040068437434111, -0.004327586914113135], "mean": [3.4636403720880566, -2.291311493088801, 0.7003717934730218, 0.0, 0.0, -0.7071015005526335, 0.7071120339150755, 0.3664906687595279, -0.01648850931637428, 0.3212275176727124, -0.1690036852537475, 0.12970056028469748, -0.03784567978441345, 0.042243837243240594, 0.031138373861690053, -0.031399098020924554], "std": [5.211518975923443e-05, 9.009476778872288e-05, 0.0002614607194198846, 0.0, 0.0, 5.80735217508255e-05, 5.8088497752788914e-05, 0.07428189449291618, 0.07027361039509808, 0.07732242633475174, 0.9519199812851565, 0.1468938831836995, 0.15011157155889476, 0.03370065867744331, 0.012503408295822685, 0.012620657959775482], "count": [322]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4928571428571429, -0.8464285714285714, -0.8428571428571429, -0.1, -0.10857142857142858, -0.13142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45, 0.5428571428571429, 0.6785714285714286, 0.1, 0.06571428571428571, 0.022857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.025465838509316725, 0.035481366459627336, -0.053726708074534175, 0.007320319432120675, -0.0038021295474711635, -0.025328305235137526, -0.33540372670807456], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15650437485546786, 0.21642396922340582, 0.3014424663178039, 0.03073435004820599, 0.02471078782921591, 0.033967158628759604, 0.9420744875594157], "count": [322]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04968944191932678], "std": [0.21730256080627441], "count": [322]}, "next.done": {"min": [false], "max": [true], "mean": [0.003105590062111801], "std": [0.055641220084375526], "count": [322]}, "timestamp": {"min": [0.0], "max": [16.05], "mean": [8.025], "std": [4.647647254256717], "count": [322]}, "frame_index": {"min": [0], "max": [321], "mean": [160.5], "std": [92.95294508513435], "count": [322]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [322]}, "index": {"min": [4370], "max": [4691], "mean": [4530.5], "std": [92.95294508513435], "count": [322]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [322]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5964216912961473]], [[0.47936564606311277]], [[0.38593354348575365]]], "std": [[[0.22932305009714377]], [[0.20725386591969774]], [[0.20138458229920397]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.734147393320121]], [[0.5704113781498927]], [[0.4111326395670573]]], "std": [[[0.1608833516413444]], [[0.17715127002762082]], [[0.24252948279943945]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.727676310819738]], [[0.5664676388011259]], [[0.40541454001034005]]], "std": [[[0.16553366132089797]], [[0.1788759213042101]], [[0.2471785658142032]]], "count": [100]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [402]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [402]}, "observation.state": {"min": [3.731343900750688, -1.2904061912995772, 0.6999998118915517, 0.0, 0.0, -0.00014606854529120028, 1.0, 0.20431337411922978, -0.2099620950167138, 0.24955856600016013, -0.9999499320983887, -0.1938418447971344, -0.20643837749958038, 0.0001568003062857315, 0.020537467435089763, -0.0400033089555896], "max": [3.731531893210211, -1.2902369784704433, 0.7004745590748919, 0.0, 0.0, 0.0001525117113487795, 1.0, 0.3971131621382553, 0.2646760606828915, 0.578455017748584, 0.9999637603759766, 0.14993195235729218, 0.14478126168251038, 0.06227398291230202, 0.03991096561072353, -0.020529092018419803], "mean": [3.7314301424197143, -1.290337053231933, 0.7002540953304616, 0.0, 0.0, -2.409739412000682e-05, 1.0, 0.29343538783229894, -0.03660648248534929, 0.3280858149749564, 0.26864127421853556, -0.03251326796297559, -0.0462054172539458, 0.025001045623640715, 0.03480051148977424, -0.03427092093062433], "std": [6.944028681144327e-05, 3.5664414212131746e-05, 0.00016348786148746795, 0.0, 0.0, 6.216298316253715e-05, 0.0, 0.04918929844033425, 0.14928476757722997, 0.06661022514787489, 0.9517222352800611, 0.09416629131301225, 0.0951911142804466, 0.017632867381631702, 0.006031598506166596, 0.006454639613998322], "count": [402]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6785714285714286, -0.6642857142857144, -0.6785714285714286, -0.08, -0.21142857142857144, -0.16285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6, 0.8571428571428572, 0.6428571428571428, 0.06857142857142857, 0.34, 0.12571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010696517412935333, 0.04978678038379531, -0.03864605543710013, -3.5536602700781826e-05, 0.0005756929637526657, -0.0008244491826581403, -0.12437810945273632], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21391299542142897, 0.28473972957637816, 0.23653753314039996, 0.01344123600271351, 0.06514800025590507, 0.038914222719783904, 0.9922348945128686], "count": [402]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03980099409818649], "std": [0.19549135863780975], "count": [402]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024875621890547263], "std": [0.04981339401617111], "count": [402]}, "timestamp": {"min": [0.0], "max": [20.05], "mean": [10.025], "std": [5.802352252894223], "count": [402]}, "frame_index": {"min": [0], "max": [401], "mean": [200.5], "std": [116.04704505788446], "count": [402]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [402]}, "index": {"min": [4692], "max": [5093], "mean": [4892.5], "std": [116.04704505788446], "count": [402]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [402]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[0.8274509803921568]], [[0.9254901960784314]], [[0.6823529411764706]]], "mean": [[[0.38081111049563054]], [[0.33056131884720036]], [[0.29051501020330006]]], "std": [[[0.2384782946767242]], [[0.1940037017729487]], [[0.1550720218683844]]], "count": [105]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.06274509803921569]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42619521767040147]], [[0.35416275893495414]], [[0.3062384301051149]]], "std": [[[0.22272552829447156]], [[0.20436680624954462]], [[0.214414943458906]]], "count": [105]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.058823529411764705]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38814473014140555]], [[0.340707205408205]], [[0.3112622480632878]]], "std": [[[0.22358626178759652]], [[0.20627488243741846]], [[0.2127504754568268]]], "count": [105]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [499]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [499]}, "observation.state": {"min": [1.402774264023673, -0.7852217601535836, 0.6999967406294432, 0.0, 0.0, 0.7069483995437622, 0.7070196270942688, 0.20991703524671879, -0.13078667503187646, 0.23236942608951827, -0.9984765648841858, -0.19371595978736877, -0.18030670285224915, 0.0001112714089686051, 0.005567254220133039, -0.039939073306534935], "max": [1.40293975283877, -0.7848588626402062, 0.700538174996775, 0.0, 0.0, 0.707193911075592, 0.7072651982307434, 0.4389714180249734, 0.3095043350582445, 0.5997991379713414, 0.9901185631752014, 0.11735011637210846, 0.14968809485435486, 0.09708961099386215, 0.04011245376231979, -0.005408221084169776], "mean": [1.4028599766174397, -0.7849607425908408, 0.7000927849148889, 0.0, 0.0, 0.707093778258574, 0.7071197410384734, 0.32474602922261125, 0.08985106756106911, 0.315042710510605, -0.9511269276032228, -0.04082584944003092, -0.08286519040109101, 0.036684622323936746, 0.0296903555678514, -0.03022050168316072], "std": [3.270969973416946e-05, 8.244704946226168e-05, 0.00012696568692990593, 0.0, 0.0, 4.802409379657081e-05, 4.803454843595396e-05, 0.06199449757734979, 0.1187350798052027, 0.06955974607018013, 0.2632081722720049, 0.10726412629980708, 0.0652724775457576, 0.020827730214074375, 0.01330680405344287, 0.013222582676341497], "count": [499]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6500000000000001, -0.8500000000000001, -0.8142857142857143, -0.14857142857142858, -0.11714285714285716, -0.13714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 0.7428571428571429, 0.7571428571428572, 0.08285714285714285, 0.2571428571428571, 0.14, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010979101059261368, -0.011966790724305775, -0.02784139707987405, -0.0015745777268823362, 0.006155167477812766, 0.002891497280274839, -0.24649298597194388], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18760790635622615, 0.2451774871514179, 0.26476283862903055, 0.024117636969019352, 0.052651602167190566, 0.03555663523913144, 0.9691445753171368], "count": [499]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06613226234912872], "std": [0.2485131472349167], "count": [499]}, "next.done": {"min": [false], "max": [true], "mean": [0.002004008016032064], "std": [0.044721269748339475], "count": [499]}, "timestamp": {"min": [0.0], "max": [24.9], "mean": [12.45], "std": [7.202430145443967], "count": [499]}, "frame_index": {"min": [0], "max": [498], "mean": [249.0], "std": [144.04860290887933], "count": [499]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [499]}, "index": {"min": [5094], "max": [5592], "mean": [5343.0], "std": [144.04860290887933], "count": [499]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [499]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6331487576353784]], [[0.5352950026568244]], [[0.4352309761795343]]], "std": [[[0.17028491268954968]], [[0.17930315878382203]], [[0.19802608953495504]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4655958060470282]], [[0.4999604480219822]], [[0.4897100070130591]]], "std": [[[0.21622289148878288]], [[0.19046815331791345]], [[0.19534154853547342]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4572603011785769]], [[0.49377513750861673]], [[0.48493176987591907]]], "std": [[[0.21497017247523173]], [[0.1897832448599125]], [[0.19370151362942295]]], "count": [100]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [386]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [386]}, "observation.state": {"min": [0.7978365072168222, -3.9101522278309613, 0.6999984009212182, 0.0, 0.0, -1.0, 0.0, 0.20366211375328158, -0.3135439763330248, 0.2397361969788343, -0.9932766556739807, -0.027027547359466553, -0.15463249385356903, 0.01761297881603241, 0.020556543829300646, -0.040346068082708825], "max": [0.7979050730722299, -3.910069017155762, 0.7014277207732752, 0.0, 0.0, 1.0, 4.576566061587073e-05, 0.47038200147593984, 0.17408780292205472, 0.599149607628437, -0.9002915620803833, 0.4059249460697174, 0.06261835992336273, 0.1621861457824707, 0.0409821424297287, -0.020510015563588464], "mean": [0.7978432384436651, -3.9100934473389954, 0.700463547523591, 0.0, 0.0, -0.18652849740932642, 4.672592290751313e-06, 0.34076382040022885, 0.03430487020428505, 0.3589243560739378, -0.9395368009651263, 0.2920988491239325, -0.08667686890994399, 0.07389410897857784, 0.039113859891398206, -0.03569743103831043], "std": [6.80765577777191e-06, 8.501131258099262e-06, 0.00037552207430431643, 0.0, 0.0, 0.9824495506916495, 7.187117013197976e-06, 0.07842057377633539, 0.1536937269206083, 0.08437426957866975, 0.026367478917390243, 0.11622311049984818, 0.06312572743423248, 0.02806640884935288, 0.001996222164610866, 0.00638805828489403], "count": [386]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6178571428571429, -0.7535714285714287, -0.5357142857142857, -0.03428571428571429, -0.12857142857142856, -0.2714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5285714285714286, 0.5392857142857143, 0.8, 0.09, 0.14857142857142858, 0.09428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.017773871206513723, -0.06039045151739454, -0.04603071798667654, 0.006621021465581051, 0.004437453737971872, -0.013256846780162845, -0.23834196891191708], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23811641831064279, 0.2300628378371489, 0.3174928784738551, 0.018022915931422048, 0.043069953076091655, 0.04732105155407104, 0.9711812940204264], "count": [386]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.062176164239645004], "std": [0.24147523939609528], "count": [386]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025906735751295338], "std": [0.050832686192612914], "count": [386]}, "timestamp": {"min": [0.0], "max": [19.25], "mean": [9.625], "std": [5.571411401072442], "count": [386]}, "frame_index": {"min": [0], "max": [385], "mean": [192.5], "std": [111.42822802144886], "count": [386]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [386]}, "index": {"min": [5593], "max": [5978], "mean": [5785.5], "std": [111.42822802144886], "count": [386]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [386]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.09019607843137255]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6043700945459476]], [[0.44824542793741584]], [[0.36042172274095097]]], "std": [[[0.12396821183133508]], [[0.12761112403995756]], [[0.13194108057896492]]], "count": [111]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5542015028513693]], [[0.4592767717812597]], [[0.4016538926262545]]], "std": [[[0.1489489369214772]], [[0.1788968410692057]], [[0.20275322778244345]]], "count": [111]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.047058823529411764]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5333080443365585]], [[0.436768211010298]], [[0.3786449255148991]]], "std": [[[0.1612564593669325]], [[0.18144991418696965]], [[0.20241609569456556]]], "count": [111]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [539]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [539]}, "observation.state": {"min": [4.046010182675401, -4.475223150578463, 0.6999927423108843, 0.0, 0.0, -1.0, 0.0, 0.09368537444600422, -0.26186380669969544, 0.23241167168110377, -0.9981600046157837, -0.2045954167842865, -0.3557473123073578, 2.5171782908728346e-05, 0.01471825446158434, -0.040452408396518355], "max": [4.046102662471686, -4.475014078414709, 0.7052641428055414, 0.0, 0.0, 1.0, 7.579027442261577e-05, 0.4920182983871424, 0.3155275712990129, 0.5711079547914341, 0.958547830581665, 0.2916254699230194, 0.2313261181116104, 0.19579705595970154, 0.041197543685955004, -0.02049517274702046], "mean": [4.046020297260551, -4.475132773427756, 0.702051234688072, 0.0, 0.0, -0.6066790352504638, 9.424152030466131e-06, 0.31021314465641153, 0.08744961398828438, 0.34228256886365954, -0.8962963943357591, 0.02112823538136615, -0.1564105077921404, 0.06430692318372673, 0.03696267421072488, -0.03684893921297876], "std": [1.5270376957195884e-05, 2.164152945303211e-05, 0.0017314215194946777, 0.0, 0.0, 0.794946883878138, 1.3912029382056965e-05, 0.10825106505083874, 0.12975045500391597, 0.08002625229324778, 0.3737498471671752, 0.11876464578254842, 0.11049927902362608, 0.04003327503875112, 0.006064867319734292, 0.003858027500646491], "count": [539]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6821428571428572, -0.5107142857142858, -0.6285714285714287, -0.12571428571428572, -0.13714285714285715, -0.11285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.475, 0.5285714285714286, 0.5535714285714286, 0.11, 0.10428571428571429, 0.26571428571428574, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.015524781341107897, -0.06321892393320966, -0.13320964749536196, 0.003482639809170421, -0.015250463821892392, -0.007217068645640082, -0.3172541743970315], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1883246962782609, 0.19157534279705643, 0.28606677621434434, 0.03309754686658114, 0.03655315800872918, 0.05871494204050602, 0.9483405447557616], "count": [539]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029684601351618767], "std": [0.16971571743488312], "count": [539]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018552875695732839], "std": [0.04303307422910279], "count": [539]}, "timestamp": {"min": [0.0], "max": [26.9], "mean": [13.450000000000001], "std": [7.779781487933963], "count": [539]}, "frame_index": {"min": [0], "max": [538], "mean": [269.0], "std": [155.59562975867928], "count": [539]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [539]}, "index": {"min": [5979], "max": [6517], "mean": [6248.0], "std": [155.59562975867928], "count": [539]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [539]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.0784313725490196]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6148759699802773]], [[0.5290220672009038]], [[0.45163223146924786]]], "std": [[[0.222188928531705]], [[0.2508928189617366]], [[0.26662583523238803]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.08627450980392157]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5411309198117723]], [[0.44286789060106463]], [[0.3653148510502834]]], "std": [[[0.225350214421698]], [[0.27192904256200745]], [[0.30308700532911886]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5409573519837623]], [[0.4447549923167509]], [[0.3695746130849801]]], "std": [[[0.21289055484337302]], [[0.26291086129341357]], [[0.2979368002809992]]], "count": [100]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [322]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [322]}, "observation.state": {"min": [2.332468144635699, -0.8095873857335278, 0.699998454437137, 0.0, 0.0, 0.7070883512496948, 0.7067787051200867, 0.205249114123221, -0.2001443353904957, 0.2438206270898048, -0.9999645948410034, -0.04533228278160095, -0.2398720681667328, 0.00016307274927385151, 0.02056177884741942, -0.040226165811196986], "max": [2.3328764561149273, -0.8094066565043019, 0.7003814453001932, 0.0, 0.0, 0.7074346542358398, 0.7071252465248108, 0.39903769762859753, 0.08316676259780031, 0.608803671216349, 0.9999774694442749, 0.11162148416042328, 0.2415452003479004, 0.047833509743213654, 0.040001452073320946, -0.020504781994724088], "mean": [2.332729307840103, -0.8094796403322697, 0.7001922786579531, 0.0, 0.0, 0.7072239923551216, 0.7069895546999037, 0.2766000173630894, -0.004574241307247166, 0.32903772509510676, -0.052174285887191016, 0.010873204279367043, 0.01721061549287923, 0.018624317048024242, 0.036842906313012014, -0.03757907840549269], "std": [0.00010640339877188864, 4.9799364204706584e-05, 0.0001219695902664727, 0.0, 0.0, 8.436210213888482e-05, 8.438152000253794e-05, 0.05556133752507286, 0.08119690640225596, 0.07845890028925478, 0.9919647976783842, 0.04236110873145186, 0.10312632620837307, 0.009637668983401756, 0.004002009564026136, 0.0038333808586863654], "count": [322]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6035714285714285, -0.775, -0.6428571428571428, -0.12571428571428572, -0.19428571428571428, -0.15714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7464285714285714, 0.35714285714285715, 0.8607142857142859, 0.06714285714285714, 0.19142857142857142, 0.11714285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010381543921916588, -0.04395519077196095, -0.09856921029281272, -0.0018988464951197874, 0.0007009760425909471, 0.0034693877551020425, -0.5031055900621118], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22327627399863384, 0.19457304639664558, 0.2647816128527488, 0.025697656260201523, 0.05595042850871292, 0.03862174715323052, 0.8642249506050229], "count": [322]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04968944191932678], "std": [0.21730256080627441], "count": [322]}, "next.done": {"min": [false], "max": [true], "mean": [0.003105590062111801], "std": [0.055641220084375526], "count": [322]}, "timestamp": {"min": [0.0], "max": [16.05], "mean": [8.025], "std": [4.647647254256717], "count": [322]}, "frame_index": {"min": [0], "max": [321], "mean": [160.5], "std": [92.95294508513435], "count": [322]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [322]}, "index": {"min": [6518], "max": [6839], "mean": [6678.5], "std": [92.95294508513435], "count": [322]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [322]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6039038989497166]], [[0.5497867114497166]], [[0.4973591541963465]]], "std": [[[0.17392327102430177]], [[0.19250257642646923]], [[0.23821229298550273]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6007652683632047]], [[0.5861879643458946]], [[0.5697678192737056]]], "std": [[[0.2370350030044388]], [[0.237994101734867]], [[0.23415424582371935]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.07450980392156863]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5981874509325215]], [[0.5839804675532322]], [[0.566829699348001]]], "std": [[[0.24566457043009468]], [[0.24268339440971262]], [[0.23462604478953833]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [462]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [462]}, "observation.state": {"min": [-0.775389440311874, -1.17045658431666, 0.699998901339288, 0.0, 0.0, -0.00010858640598598868, 0.9999970197677612, 0.16985867456207115, -0.32329390570037475, 0.232012322691018, -0.9903064966201782, -0.391014039516449, -0.3344089984893799, 4.95522835990414e-05, 0.0029905562614654176, -0.04062017145037803], "max": [-0.7738461942545621, -1.1674229386850474, 0.7028890334201628, 0.0, 0.0, 0.0024369393941015005, 1.0, 0.4463073508037435, 0.2270206433502313, 0.5995345877652662, 0.992552638053894, 0.2890583574771881, 0.32387661933898926, 0.07964546978473663, 0.03991494341388522, -0.010350275525788422], "mean": [-0.774156713445925, -1.1697124099316825, 0.7005968268247706, 0.0, 0.0, 0.0005158339105070131, 0.999999607538248, 0.30286320073619305, -0.1215592371487251, 0.326746585617316, 0.2841789546983067, -0.03034123026834422, 0.0309661975516852, 0.030329108736765052, 0.034053015694184556, -0.03613910798155046], "std": [0.0004492656461437564, 0.0009739971864264229, 0.0008503699797336893, 0.0, 0.0, 0.0007431894828463697, 7.860935582423434e-07, 0.06668357266763306, 0.18101510489758732, 0.07551151957780082, 0.9270166797039461, 0.1617837216997395, 0.1745758866727918, 0.020792607778743973, 0.007859280176360159, 0.00746688799380484], "count": [462]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6392857142857143, -1.0, -0.6714285714285714, -0.11142857142857143, -0.1657142857142857, -0.14, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6464285714285715, 1.0, 0.9785714285714284, 0.22142857142857142, 0.25, 0.24142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.015561224489795947, -0.01636518243661102, -0.03151669758812616, 0.0029097093382807644, 0.017297464440321587, -0.017068645640074202, -0.19047619047619047], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2477715678394444, 0.40654869001725763, 0.2894860998628358, 0.04744279570300755, 0.05650050950769674, 0.05778132618614613, 0.9816918156232564], "count": [462]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04978355020284653], "std": [0.21749749779701233], "count": [462]}, "next.done": {"min": [false], "max": [true], "mean": [0.0021645021645021645], "std": [0.04647383236706469], "count": [462]}, "timestamp": {"min": [0.0], "max": [23.05], "mean": [11.525], "std": [6.668379988173039], "count": [462]}, "frame_index": {"min": [0], "max": [461], "mean": [230.5], "std": [133.3675997634608], "count": [462]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [462]}, "index": {"min": [6840], "max": [7301], "mean": [7070.5], "std": [133.3675997634608], "count": [462]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [462]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4446282480277267]], [[0.3659210169175092]], [[0.25937691782035077]]], "std": [[[0.29358463206109564]], [[0.23657899185055398]], [[0.173591261357612]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4181526872223499]], [[0.3993321108350567]], [[0.37684919828527114]]], "std": [[[0.23090000893060808]], [[0.22052191694778733]], [[0.2135729790772774]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4230815908394608]], [[0.4087726069431679]], [[0.38922318881165746]]], "std": [[[0.24615704938772995]], [[0.2330207301471573]], [[0.22216569734050332]]], "count": [100]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [356]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [356]}, "observation.state": {"min": [2.3082914407301938, -1.1015052934111584, 0.6999988955157969, 0.0, 0.0, -1.0, 9.016788027338407e-08, 0.2275192600163063, -0.1264581931541665, 0.24761575209714803, -0.9977381229400635, -0.07490426301956177, -0.15180078148841858, 0.011340380646288395, 0.011910273913276197, -0.03991031409783738], "max": [2.308618009032807, -1.1011974297381175, 0.7007891783513092, 0.0, 0.0, 1.0, 0.0003500111633911729, 0.4243025579139825, 0.22965779593617386, 0.5914281482110316, -0.985329806804657, -0.009523555636405945, 0.02812591940164566, 0.09537238627672195, 0.040423051729672754, -0.020517767161227933], "mean": [2.308481346138938, -1.101359502110725, 0.7004199087001669, 0.0, 0.0, 0.34831460674157305, 0.00010462617160717633, 0.32643128912014424, 0.040635210037871954, 0.31067783623653417, -0.9942746894078308, -0.050054094115837236, -0.05480344932551857, 0.03740646421720975, 0.03548110114111484, -0.035715538206241224], "std": [0.0001409981549222174, 9.375881289434402e-05, 0.0003324369083015013, 0.0, 0.0, 0.9373776905444597, 0.00011775962315757851, 0.06022422238532991, 0.09536419491980044, 0.07180486117426488, 0.003188951626332069, 0.022362154998749377, 0.06161802822001291, 0.014239267805277346, 0.006845469788408845, 0.005372380995348057], "count": [356]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5428571428571429, -0.9285714285714287, -0.6142857142857143, -0.11714285714285716, -0.18285714285714286, -0.07142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5857142857142857, 0.55, 0.7714285714285714, 0.08285714285714285, 0.26857142857142857, 0.06857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010152487961476725, 0.039646869983948646, -0.058908507223114095, 0.001139646869983948, 0.004831460674157306, -0.0004574638844301758, -0.33707865168539325], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1718764204889328, 0.2324029564888716, 0.2447318841864327, 0.020550417055384417, 0.05307339633629069, 0.01839206731805119, 0.9414764907197422], "count": [356]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07303370535373688], "std": [0.26019182801246643], "count": [356]}, "next.done": {"min": [false], "max": [true], "mean": [0.0028089887640449437], "std": [0.05292540359948532], "count": [356]}, "timestamp": {"min": [0.0], "max": [17.75], "mean": [8.875], "std": [5.138397123617442], "count": [356]}, "frame_index": {"min": [0], "max": [355], "mean": [177.5], "std": [102.76794247234884], "count": [356]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [356]}, "index": {"min": [7302], "max": [7657], "mean": [7479.5], "std": [102.76794247234884], "count": [356]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [356]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5964608668907017]], [[0.4549205429974724]], [[0.3472611646465227]]], "std": [[[0.15177669194221868]], [[0.13807187762265824]], [[0.15420980000244489]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.054901960784313725]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5472939692478553]], [[0.4489169772279029]], [[0.39003888597675396]]], "std": [[[0.14667034889560027]], [[0.17921118144368448]], [[0.2058695089320633]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5334575859518612]], [[0.4358881865856694]], [[0.37755265957701445]]], "std": [[[0.16367178059514575]], [[0.18536808130508134]], [[0.20749746285776038]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [376]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [376]}, "observation.state": {"min": [4.026362698839634, -4.494362346693255, 0.6999931000160176, 0.0, 0.0, -1.0, 7.681281743998625e-08, 0.14964381128029203, -0.13947125132785132, 0.23468251143955332, -0.9972084164619446, -0.04867752641439438, -0.24448564648628235, 0.03014959767460823, 0.020569097219111817, -0.04050388640063039], "max": [4.026498311539224, -4.494171529384755, 0.7004106116626466, 0.0, 0.0, 1.0, 0.00023049126320984215, 0.3325383175807026, 0.16291141961311784, 0.575067967843065, -0.9508984088897705, 0.1580936312675476, 0.014819568023085594, 0.1612619161605835, 0.04000988842490976, -0.02049746170885552], "mean": [4.026440395838778, -4.49426008510032, 0.7002248903813386, 0.0, 0.0, -0.5212765957446809, 7.007526173754694e-05, 0.23831291326696835, -0.026531170311855902, 0.32408168633966533, -0.9837440115974304, 0.043988067894539934, -0.10656804617068934, 0.08215231442467329, 0.0370180797086355, -0.036971121558552394], "std": [4.186568391247805e-05, 5.258470722400999e-05, 0.00017887082394100548, 0.0, 0.0, 0.8533877844970816, 6.562329607945997e-05, 0.04446642338068601, 0.08249637267199704, 0.06948997893339778, 0.012216201981328036, 0.07322256573260619, 0.07287655217828697, 0.037218890513957624, 0.004735348869071468, 0.004342808403720187], "count": [376]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7678571428571429, -0.8464285714285714, -0.942857142857143, -0.11714285714285716, -0.21142857142857144, -0.07857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6428571428571428, 0.75, 0.7464285714285714, 0.1142857142857143, 0.06428571428571428, 0.047142857142857146, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.062006079027355665, 0.01446618541033433, -0.18232332826747716, -0.00036854103343465067, -0.030467325227963526, -0.008579027355623105, -0.5797872340425532], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22775375036522455, 0.25507056899167235, 0.33252176518741766, 0.03361537381672231, 0.048824032672463914, 0.021920145476034644, 0.8147679198650902], "count": [376]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.042553190141916275], "std": [0.20184750854969025], "count": [376]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026595744680851063], "std": [0.051502438114460335], "count": [376]}, "timestamp": {"min": [0.0], "max": [18.75], "mean": [9.375], "std": [5.427073336523103], "count": [376]}, "frame_index": {"min": [0], "max": [375], "mean": [187.5], "std": [108.54146673046205], "count": [376]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [376]}, "index": {"min": [7658], "max": [8033], "mean": [7845.5], "std": [108.54146673046205], "count": [376]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [376]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6817221189012714]], [[0.6206909472895604]], [[0.5228049974628524]]], "std": [[[0.2113044116663469]], [[0.19585427972166153]], [[0.22924747478714502]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6296906247606465]], [[0.4808864512724035]], [[0.3921361131855086]]], "std": [[[0.16697127753258187]], [[0.21607380891398162]], [[0.2422324193348116]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.058823529411764705]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.626904727711397]], [[0.47421270392922793]], [[0.3828840164483762]]], "std": [[[0.16858874172417496]], [[0.2179378514906315]], [[0.2442261505514765]]], "count": [100]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [306]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [306]}, "observation.state": {"min": [0.7839315643654907, -3.5483187530673166, 0.6999982923843395, 0.0, 0.0, -1.0, 8.615561597480337e-08, 0.2042319813442678, -0.3648881500533383, 0.2550184303580326, -0.9991874098777771, -0.029369965195655823, -0.12414872646331787, 0.025566641241312027, 0.020450760436488555, -0.04039949278557162], "max": [0.784028912187214, -3.5473186618677484, 0.7004592989423224, 0.0, 0.0, 1.0, 0.0012860666029155254, 0.41833543723041494, 0.21864899300040053, 0.5932289719558362, -0.9109614491462708, 0.3911871314048767, 0.008918399922549725, 0.110551618039608, 0.04000852842826474, -0.020182253105210452], "mean": [0.7839968698513905, -3.547867635227213, 0.7003049541728379, 0.0, 0.0, -0.986927822524426, 0.0006629304344670062, 0.2976497082557838, -0.04341310333076908, 0.33308964939975744, -0.959989667523141, 0.20568223571514382, -0.05982229439028101, 0.07332375409458977, 0.03526932244994477, -0.035947416270525945], "std": [1.913679150593721e-05, 0.0003065625539942974, 0.00015068234468346487, 0.0, 0.0, 0.16116112752725173, 0.0003909943733867646, 0.06946363550892094, 0.15334839083734655, 0.07457549071796098, 0.03292170298513728, 0.15439376424634635, 0.0410092255403448, 0.023591256901411766, 0.006496599100807802, 0.0061705685443408575], "count": [306]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7607142857142857, -1.0, -0.6892857142857142, -0.09142857142857143, -0.10714285714285715, -0.15857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.375, 1.0, 0.775, 0.07571428571428573, 0.13285714285714287, 0.13714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.008018207282913168, -0.0799486461251167, -0.06292016806722696, 0.0007282913165266111, 0.002773109243697483, -0.019407096171802064, -0.39215686274509803], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1939262798834631, 0.40046733574491933, 0.3108582166010897, 0.01815824034973127, 0.04304974936293142, 0.04363519471426238, 0.919898361234501], "count": [306]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05228758230805397], "std": [0.222606360912323], "count": [306]}, "next.done": {"min": [false], "max": [true], "mean": [0.0032679738562091504], "std": [0.05707270979272216], "count": [306]}, "timestamp": {"min": [0.0], "max": [15.25], "mean": [7.625], "std": [4.416705974667848], "count": [306]}, "frame_index": {"min": [0], "max": [305], "mean": [152.5], "std": [88.33411949335697], "count": [306]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [306]}, "index": {"min": [8034], "max": [8339], "mean": [8186.5], "std": [88.33411949335697], "count": [306]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [306]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6507728780110676]], [[0.5481968347886029]], [[0.44910924275716146]]], "std": [[[0.18071340188166188]], [[0.19327784641463278]], [[0.20292579693721718]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.08627450980392157]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5172927419625076]], [[0.4753690466787301]], [[0.426150977639591]]], "std": [[[0.22904279831834307]], [[0.22869864258448486]], [[0.2324235884340374]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.08627450980392157]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5194259087057674]], [[0.4774320493211933]], [[0.4284863640280331]]], "std": [[[0.22986205251263372]], [[0.22866693615381045]], [[0.2311463586976482]]], "count": [100]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [414]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [414]}, "observation.state": {"min": [2.335147802499745, -3.775049466531583, 0.6999989292905204, 0.0, 0.0, 1.0, 0.00012831416097469628, 0.23869759280423697, -0.20852018839035447, 0.22898151233618214, -0.9995139241218567, -0.2102198451757431, -0.10526902228593826, 2.2635023924522102e-05, 0.010885452857548657, -0.03996856755074157], "max": [2.3352175129548245, -3.7749570151848726, 0.7023628500906255, 0.0, 0.0, 1.0, 0.00020992837380617857, 0.4679543048779362, 0.3037317338194665, 0.5773377752509493, 0.9984255433082581, 0.0814710333943367, 0.06569012999534607, 0.0382416807115078, 0.04054858269028931, -0.017144959697865034], "mean": [2.3351554286798852, -3.775015477052804, 0.7007015286572534, 0.0, 0.0, 1.0, 0.0001562392420094946, 0.3832538918557109, 0.0747199512153591, 0.3299157155221928, -0.9311268534061413, -0.0495573660214814, -0.05147761186674251, 0.02446105188847877, 0.0346260366502958, -0.03304490882803262], "std": [9.106310789196789e-06, 1.1729362499179209e-05, 0.0006686382222012414, 0.0, 0.0, 0.0, 1.0521681942893827e-05, 0.06845201361804566, 0.12932662212256885, 0.08403294570160656, 0.34730950481435646, 0.0621482950653757, 0.052331056163232414, 0.008586307520969486, 0.009007467974783105, 0.008390519296244143], "count": [414]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.42500000000000004, -0.5, -0.45, -0.05714285714285715, -0.1142857142857143, -0.08, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.32857142857142857, 0.5, 0.5892857142857143, 0.03571428571428571, 0.17857142857142858, 0.2885714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.024991373360938565, -0.03421325051759833, -0.076147342995169, 0.0006625258799171839, 0.0061801242236024885, 0.0010006901311249148, -0.20772946859903382], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13096755483146147, 0.2211568652329071, 0.21806509219086112, 0.01004253904964454, 0.040109591703821786, 0.059014502664290196, 0.9781863155225391], "count": [414]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03864734247326851], "std": [0.19275301694869995], "count": [414]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024154589371980675], "std": [0.04908792616642892], "count": [414]}, "timestamp": {"min": [0.0], "max": [20.65], "mean": [10.325000000000001], "std": [5.975557854013855], "count": [414]}, "frame_index": {"min": [0], "max": [413], "mean": [206.5], "std": [119.5111570802771], "count": [414]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [414]}, "index": {"min": [8340], "max": [8753], "mean": [8546.5], "std": [119.5111570802771], "count": [414]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [414]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5918082101859298]], [[0.540578628839231]], [[0.4854470053280101]]], "std": [[[0.186618392964377]], [[0.21886043606769234]], [[0.26241911965282194]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4484277660893459]], [[0.401926893047258]], [[0.3740695573395374]]], "std": [[[0.23957982750833484]], [[0.24475171212134417]], [[0.2594725140245604]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.07450980392156863]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44026435642616424]], [[0.3889404877307368]], [[0.3585833429074755]]], "std": [[[0.2495550375365407]], [[0.25245551679615064]], [[0.2661532186349414]]], "count": [100]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [350]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [350]}, "observation.state": {"min": [4.086815289829402, -4.500574307452308, 0.6999958673186392, 0.0, 0.0, -1.0, 4.1723538402038685e-08, 0.18405461531147882, -0.11954792421361926, 0.23205647355892045, -0.9963709115982056, -0.01475098729133606, -0.3586638867855072, 0.014815246686339378, 0.01406663180392399, -0.03993817991942475], "max": [4.0882247250664445, -4.500187092134421, 0.7018980378162704, 0.0, 0.0, 1.0, 0.0005538529949262738, 0.47529265143550914, 0.20315928333630495, 0.5948494333909369, -0.9151827096939087, 0.15937259793281555, -0.08224140852689743, 0.11685676127672195, 0.04000375799325636, -0.011982163865994974], "mean": [4.087187119536583, -4.500306400498621, 0.7004836667551407, 0.0, 0.0, -0.19428571122033256, 0.00010693019371814216, 0.3572657411838161, 0.026415544549356317, 0.3201871379827989, -0.9720095763887678, 0.0330387784753527, -0.20126955611365183, 0.03708096864766308, 0.03201489151586187, -0.031978140154320246], "std": [0.0005602277746971223, 7.509191767505554e-05, 0.0007649842672371707, 0.0, 0.0, 0.9809449812730809, 0.00015300749421454215, 0.08919082986209367, 0.08159370006261084, 0.08337931018659436, 0.023886921332678467, 0.04619102442942384, 0.09474860421963069, 0.023235806678754665, 0.009513597893413984, 0.00991842779542165], "count": [350]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4357142857142858, -0.7857142857142857, -0.6, -0.055714285714285716, -0.10857142857142858, -0.07, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6285714285714287, 0.6607142857142857, 0.8892857142857143, 0.10857142857142858, 0.05428571428571429, 0.032857142857142856, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03490816326530613, 0.034163265306122445, -0.045499999999999985, 0.004457142857142858, -0.006534693877551025, -0.005938775510204083, -0.2914285714285714], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14744781759304884, 0.2291330781740954, 0.32083387956991577, 0.020741215429494718, 0.02408119992693185, 0.01499472349232926, 0.9565925923584743], "count": [350]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04571428522467613], "std": [0.20886477828025818], "count": [350]}, "next.done": {"min": [false], "max": [true], "mean": [0.002857142857142857], "std": [0.05337583340648401], "count": [350]}, "timestamp": {"min": [0.0], "max": [17.45], "mean": [8.725], "std": [5.051794235714673], "count": [350]}, "frame_index": {"min": [0], "max": [349], "mean": [174.5], "std": [101.03588471429346], "count": [350]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [350]}, "index": {"min": [8754], "max": [9103], "mean": [8928.5], "std": [101.03588471429346], "count": [350]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [350]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.047058823529411764]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6511696370442708]], [[0.6067943474264706]], [[0.572565622367111]]], "std": [[[0.1653611667552554]], [[0.21039146403220624]], [[0.24439119043001276]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.08627450980392157]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5892971855612362]], [[0.448665781656901]], [[0.4203926840389476]]], "std": [[[0.1611455601864124]], [[0.26438317446501747]], [[0.26631934024878506]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5966536027496936]], [[0.4557373004988128]], [[0.4270747854195389]]], "std": [[[0.15133737618283655]], [[0.2601810646514258]], [[0.2627518370209864]]], "count": [100]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [331]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [331]}, "observation.state": {"min": [2.831300221397674, -3.0949242425174175, 0.699996508328919, 0.0, 0.0, -1.0, 1.712414103849369e-07, 0.13647058052811234, -0.055531709354662784, 0.2366139365440847, -0.9908460378646851, -0.020634591579437256, -0.3323977291584015, 0.023955555632710457, 0.019561482147954112, -0.03981683936308928], "max": [2.8315778365153634, -3.0943640775397956, 0.7004610627314365, 0.0, 0.0, 1.0, 0.00044383012573234737, 0.45379678556028846, 0.4611479511494281, 0.608608677214208, -0.9267618060112, 0.2067851424217224, -0.12695321440696716, 0.17640720307826996, 0.04045156704383912, -0.017764558110327518], "mean": [2.8314059630802695, -3.094686432600445, 0.7001475060132427, 0.0, 0.0, 0.2447129812125353, 0.00015682978904725536, 0.31940460165731516, 0.15699071095881345, 0.34131916546475055, -0.9604271502653278, 0.09054489991996223, -0.23409386141242577, 0.06516262748225218, 0.03144529640173863, -0.030494853467240235], "std": [0.00010860971309859931, 0.00018056890369006035, 0.00019717779790157672, 0.0, 0.0, 0.969595553505706, 0.0001573646896484781, 0.08584917653811323, 0.13061549895248317, 0.08923587061122291, 0.017986969218435674, 0.07342754230996973, 0.05539254852314493, 0.03939208565355679, 0.00919684242255624, 0.009696653745247787], "count": [331]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5642857142857142, -0.9750000000000001, -0.6642857142857144, -0.09285714285714286, -0.20714285714285718, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6107142857142858, 0.9107142857142856, 1.0, 0.13428571428571429, 0.11142857142857143, 0.10428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.035401381096245146, 0.10320457488131198, -0.009538195943029713, -0.00048769961156668105, 0.0010056107034958984, -0.0005394907207596068, -0.20241691842900303], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20987957272177754, 0.3818382768240732, 0.326659063059799, 0.02118599906224972, 0.03748481287258357, 0.037483728065268104, 0.9792994389530221], "count": [331]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04833836853504181], "std": [0.2144802361726761], "count": [331]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030211480362537764], "std": [0.05488187953046813], "count": [331]}, "timestamp": {"min": [0.0], "max": [16.5], "mean": [8.25], "std": [4.777551674236501], "count": [331]}, "frame_index": {"min": [0], "max": [330], "mean": [165.0], "std": [95.55103348473003], "count": [331]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [331]}, "index": {"min": [9104], "max": [9434], "mean": [9269.0], "std": [95.55103348473003], "count": [331]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [331]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5417689149145987]], [[0.4734688720703125]], [[0.4248133221794577]]], "std": [[[0.20452782903297945]], [[0.2351383351958818]], [[0.2705424651280083]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5452007123161765]], [[0.4552772958792892]], [[0.41335236014571847]]], "std": [[[0.19637615350794718]], [[0.257955227186865]], [[0.28691930136541033]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5124112548828125]], [[0.43594352213541665]], [[0.3976778528550092]]], "std": [[[0.21960950369588667]], [[0.25784940641386467]], [[0.2810233472504869]]], "count": [100]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [306]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [306]}, "observation.state": {"min": [4.502163505534667, -1.1007795351742198, 0.699999973885778, 0.0, 0.0, -0.0001694533711997792, 1.0, 0.21926920257763882, -0.14690499510912924, 0.24769591045489447, -0.999508261680603, -0.3802962899208069, -0.17831693589687347, 4.493079541134648e-05, 0.019411513767549165, -0.0398994886814897], "max": [4.502724942828897, -1.1003256420917333, 0.7008323283892074, 0.0, 0.0, 0.00018743252439890057, 1.0, 0.4085996090750905, 0.24995128350715368, 0.6255774201595413, 0.9935771822929382, 0.10171021521091461, 0.18547488749027252, 0.07850300520658493, 0.040038478724521195, -0.020541273085283977], "mean": [4.502425509598743, -1.1005400349499046, 0.7003912356368885, 0.0, 0.0, 8.958801922417954e-05, 1.0, 0.2985790077912989, 0.018137654381334023, 0.3503247127753735, -0.9075300855184693, -0.10075845129885315, 0.026839151875773334, 0.03547866647186668, 0.03546250064908844, -0.035381151076227066], "std": [0.00022589413499291653, 0.00015168567970015465, 0.00030274188423347597, 0.0, 0.0, 6.246019190056706e-05, 0.0, 0.0551944045639702, 0.1091611142645809, 0.08009917651606335, 0.38411749027730274, 0.09370786946765328, 0.08680028715835218, 0.01990242382316225, 0.0061451846753952455, 0.006183028651842325], "count": [306]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6803571428571429, -1.0, -0.7875, -0.12214285714285715, -0.18857142857142858, -0.012857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5625000000000001, 0.7446428571428572, 1.0, 0.16714285714285715, 0.255, 0.22714285714285717, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.019380252100840354, -0.027777777777777783, -0.04101890756302514, 0.0039355742296918765, 0.01869747899159665, 0.0221218487394958, -0.3137254901960784], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2542721456349373, 0.31360926832547914, 0.3905474227394291, 0.03406305282277906, 0.06686525631931817, 0.0431299041765367, 0.9495137264943729], "count": [306]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07189542800188065], "std": [0.25831466913223267], "count": [306]}, "next.done": {"min": [false], "max": [true], "mean": [0.0032679738562091504], "std": [0.05707270979272216], "count": [306]}, "timestamp": {"min": [0.0], "max": [15.25], "mean": [7.625], "std": [4.416705974667848], "count": [306]}, "frame_index": {"min": [0], "max": [305], "mean": [152.5], "std": [88.33411949335697], "count": [306]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [306]}, "index": {"min": [9435], "max": [9740], "mean": [9587.5], "std": [88.33411949335697], "count": [306]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [306]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[0.9921568627450981]], [[0.8117647058823529]], [[0.807843137254902]]], "mean": [[[0.3043381449381511]], [[0.28203662348728553]], [[0.2658931226543352]]], "std": [[[0.19631502001477844]], [[0.1609650269295717]], [[0.1459275357163668]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4291100080901501]], [[0.4004838573979397]], [[0.3809677375344669]]], "std": [[[0.24194387885582058]], [[0.23553713405397692]], [[0.23826969134084652]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4707027151070389]], [[0.43863475246055456]], [[0.41651433907303154]]], "std": [[[0.24861150684231262]], [[0.24186037719327796]], [[0.24311664008585088]]], "count": [100]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [294]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [294]}, "observation.state": {"min": [2.1654059337616407, -1.8054680192844172, 0.6999931521604702, 0.0, 0.0, -0.7077493667602539, 0.7064635753631592, 0.19392931341310482, -0.30062823451028575, 0.2293917608453656, -0.9970135688781738, -0.08750216662883759, -0.3047768473625183, 1.1828907190647442e-05, 0.015416139275876393, -0.03994927070552409], "max": [2.1660432360294664, -1.8042724150534135, 0.7016764139966442, 0.0, 0.0, -0.7071025967597961, 0.7071108818054199, 0.3886005327637998, 0.30110089451827804, 0.6236307279177287, 0.9930619597434998, 0.08550190925598145, 0.2852098345756531, 0.15436403453350067, 0.040512222722204116, -0.019665136525061883], "mean": [2.1658030484069597, -1.804895630958325, 0.700796148678399, 0.0, 0.0, -0.7073835428474712, 0.7068298367821441, 0.2945997714221938, 0.007934553431352858, 0.3479298536830721, -0.22174206234159924, -0.013457611329904218, -0.0231190356774395, 0.037504419995856346, 0.03328134251046813, -0.03305858595810219], "std": [0.00019836043611364944, 0.00041791271634741725, 0.0005875152018302411, 0.0, 0.0, 0.00020641607350643896, 0.0002065735936284624, 0.05461416047538713, 0.1568017037247951, 0.09380209314094623, 0.9512444828826201, 0.04011111729635091, 0.20245023042859814, 0.035315975395160085, 0.008306652678225737, 0.008334278114903053], "count": [294]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4535714285714286, -1.0, -0.8785714285714286, -0.21142857142857144, -0.2357142857142857, -0.07285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5464285714285715, 1.0, 1.0, 0.1957142857142857, 0.18, 0.1442857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.019290573372206053, 0.05089893100097182, -0.057823129251700786, -0.0002526724975704563, 0.004596695821185613, 0.006209912536443149, -0.38095238095238093], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16858888736571173, 0.4627172886802656, 0.4377617091404198, 0.0526014092165733, 0.04950652414015079, 0.03611251374235061, 0.924594658997504], "count": [294]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054421767592430115], "std": [0.2268480658531189], "count": [294]}, "next.done": {"min": [false], "max": [true], "mean": [0.003401360544217687], "std": [0.05822191417899214], "count": [294]}, "timestamp": {"min": [0.0], "max": [14.65], "mean": [7.325], "std": [4.2434999312674275], "count": [294]}, "frame_index": {"min": [0], "max": [293], "mean": [146.5], "std": [84.86999862534856], "count": [294]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [294]}, "index": {"min": [9741], "max": [10034], "mean": [9887.5], "std": [84.86999862534856], "count": [294]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [294]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6703611791274127]], [[0.6053223727357153]], [[0.5590080057779948]]], "std": [[[0.196761549652825]], [[0.21505065240799914]], [[0.23277367341330146]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.615605754777497]], [[0.5799664899040672]], [[0.5376758063821231]]], "std": [[[0.1896978492122682]], [[0.17446721943806423]], [[0.17322926086326323]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.07058823529411765]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6151050911697686]], [[0.5786815622367111]], [[0.535724318560432]]], "std": [[[0.18758234046379024]], [[0.17453604145449947]], [[0.17491088751573813]]], "count": [100]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [434]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [434]}, "observation.state": {"min": [2.6991843746900437, -1.9919525038479828, 0.6999979179352951, 0.0, 0.0, -0.707182765007019, 0.7070308327674866, 0.25473292773473033, -0.2065105887955565, 0.23673503029788912, -0.9988565444946289, -0.11180339753627777, -0.14766892790794373, 8.35541959531838e-06, 0.020547362043410688, -0.0400008358580579], "max": [2.6993430955020306, -1.991821821444086, 0.7004372215483508, 0.0, 0.0, -0.7069908976554871, 0.7072226405143738, 0.5125813451715835, 0.17896564724481268, 0.5843461924479312, 0.9989087581634521, 0.07680908590555191, 0.10082954913377762, 0.050072081387043, 0.04000399011291527, -0.02051919910607736], "mean": [2.6992655007973534, -1.991876227741277, 0.7002042131455709, 0.0, 0.0, -0.7070893849920018, 0.7071241379333532, 0.44034993130547456, 0.03268317641980682, 0.3145581968250529, -0.30577396247793454, -0.05873982237506023, -0.0047954799996877805, 0.016423691292861448, 0.03582737999514492, -0.03690113990620326], "std": [3.251157275744782e-05, 3.436599033815276e-05, 0.00016943332687408336, 0.0, 0.0, 4.130155122649387e-05, 4.131250552778108e-05, 0.05220525357980081, 0.126325993019416, 0.07379874436788224, 0.945487449587434, 0.05872559182722449, 0.07145029326167894, 0.01608803171185352, 0.0062676120437424555, 0.004351380331751248], "count": [434]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8214285714285715, -0.7000000000000001, -0.5642857142857142, -0.08285714285714285, -0.09142857142857143, -0.12857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7857142857142857, 0.95, 0.6928571428571428, 0.025714285714285714, 0.24571428571428575, 0.07428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02032587228439764, -0.03508887425938115, -0.05055957867017779, -0.0020737327188940086, 0.006668861092824221, -0.004377880184331798, -0.4976958525345622], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24198538904350456, 0.21839559743849157, 0.1966770337170424, 0.01184429133539412, 0.03568584919247364, 0.02742054976069782, 0.8673516232589293], "count": [434]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.036866359412670135], "std": [0.18843363225460052], "count": [434]}, "next.done": {"min": [false], "max": [true], "mean": [0.002304147465437788], "std": [0.04794620287254565], "count": [434]}, "timestamp": {"min": [0.0], "max": [21.65], "mean": [10.825000000000001], "std": [6.264233791933376], "count": [434]}, "frame_index": {"min": [0], "max": [433], "mean": [216.5], "std": [125.28467583866751], "count": [434]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [434]}, "index": {"min": [10035], "max": [10468], "mean": [10251.5], "std": [125.28467583866751], "count": [434]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [434]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.08627450980392157]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.62259513166839]], [[0.6015497801537607]], [[0.5336658588484222]]], "std": [[[0.16351232910310579]], [[0.18438209290750263]], [[0.18583433468502367]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4331733769435509]], [[0.4115387190276501]], [[0.3861874527276731]]], "std": [[[0.24481488115939684]], [[0.24825843892722127]], [[0.2544298381177341]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4590406990799249]], [[0.42321644741881126]], [[0.38639486933689493]]], "std": [[[0.2368400511081399]], [[0.23726815512225818]], [[0.24555040390618832]]], "count": [100]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [421]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [421]}, "observation.state": {"min": [1.8653716044848105, -1.7036089409078627, 0.6999979455227183, 0.0, 0.0, -0.70720374584198, 0.7070097923278809, 0.14962985069616908, -0.012986172124463069, 0.2326899527482148, -0.9925561547279358, -0.08074082434177399, -0.2598915696144104, 6.440662400564179e-05, 0.020529855842055193, -0.03999365978797005], "max": [1.8656432908112608, -1.7034195922057773, 0.7045671315602363, 0.0, 0.0, -0.7070674300193787, 0.7071461081504822, 0.4592032946396363, 0.3698147999822172, 0.5919377468783114, 0.9916558265686035, 0.12733036279678345, 0.20011436939239502, 0.07187791168689728, 0.040546661656220784, -0.019042698878972402], "mean": [1.8655953495350583, -1.7035979356378337, 0.702369624983535, 0.0, 0.0, -0.7071078552769369, 0.7071056596740125, 0.33788533410643007, 0.1632265169884557, 0.3431232752747673, -0.5009193149994784, -0.010540040187767736, -0.08481807222771248, 0.03051857041123347, 0.03797218164647051, -0.03388219367080702], "std": [2.8357824300992254e-05, 2.1700214155291268e-05, 0.0013833595930483411, 0.0, 0.0, 1.3303393238461096e-05, 1.3299391557727188e-05, 0.08867795766938395, 0.09342472751125962, 0.08544745159800678, 0.8459990639336648, 0.05045533037138516, 0.14877949604996618, 0.021160343699627177, 0.003033779921207674, 0.007494769993713271], "count": [421]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6035714285714285, -0.4928571428571429, -0.575, -0.047142857142857146, -0.08, -0.08, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.475, 0.46785714285714286, 0.6857142857142858, 0.08, 0.13, 0.12285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.018730912792670508, 0.00028842891075671866, -0.06074821852731592, -0.0005836443841194426, 0.0014930437733288089, -0.00016287750254496134, -0.3586698337292161], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20769249770988213, 0.21750684246339297, 0.27195947812382804, 0.01738374600368724, 0.031759230321899645, 0.029418436564314084, 0.933464488008332], "count": [421]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06175772100687027], "std": [0.24071498215198517], "count": [421]}, "next.done": {"min": [false], "max": [true], "mean": [0.0023752969121140144], "std": [0.04867910102593634], "count": [421]}, "timestamp": {"min": [0.0], "max": [21.0], "mean": [10.5], "std": [6.076594440967736], "count": [421]}, "frame_index": {"min": [0], "max": [420], "mean": [210.0], "std": [121.53188881935473], "count": [421]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [421]}, "index": {"min": [10469], "max": [10889], "mean": [10679.0], "std": [121.53188881935473], "count": [421]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [421]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6690935746735218]], [[0.6254211623247932]], [[0.5913731904871323]]], "std": [[[0.18017771639759544]], [[0.23829731831495915]], [[0.2785958104786861]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5888263346354167]], [[0.5715017568550859]], [[0.5547468076219746]]], "std": [[[0.2156705246680893]], [[0.21973341056148318]], [[0.2219159620168194]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5998832870184206]], [[0.5857780725815717]], [[0.5710168905819164]]], "std": [[[0.2174293281128027]], [[0.2199100840884784]], [[0.21949730877224438]]], "count": [100]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [398]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [398]}, "observation.state": {"min": [2.8502259215232923, -3.2235264186812103, 0.6999992044088289, 0.0, 0.0, -1.0, 0.0, 0.21779458555808295, -0.17759436181791166, 0.23258833520392797, -0.9952245950698853, -0.14634838700294495, -0.2869480848312378, 0.0004635252698790282, 0.01730881019787411, -0.04053199829227189], "max": [2.8503876125728076, -3.2233771277109025, 0.7038340948600389, 0.0, 0.0, 1.0, 0.00010503840894671157, 0.4811275204178975, 0.26360400655881344, 0.6004219316841594, 0.9888318777084351, 0.05916817486286163, 0.23783206939697266, 0.06358765810728073, 0.040002043915177185, -0.010803310880288798], "mean": [2.850240434147934, -3.223467418172396, 0.7007232858106339, 0.0, 0.0, -0.21608040201005024, 7.533761454895332e-06, 0.35922891154895287, -0.014026926043343768, 0.33147996072372626, -0.2112419744532312, -0.061449165020755786, -0.02778287793523702, 0.02923919400821812, 0.033459061382270734, -0.03645229024731688], "std": [2.5084883662866485e-05, 1.2758085501842216e-05, 0.0006059250695564745, 0.0, 0.0, 0.9763755731618704, 1.6982000077337155e-05, 0.0771060911249534, 0.1358232575030494, 0.08178657227239786, 0.9578689358740445, 0.04298102901584565, 0.17418260336578117, 0.016557868221444595, 0.006771876264833313, 0.004926802557900158], "count": [398]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.775, -0.7571428571428572, -0.7321428571428572, -0.047142857142857146, -0.09428571428571429, -0.12571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 0.5928571428571429, 0.5785714285714286, 0.055714285714285716, 0.1242857142857143, 0.07428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0026381909547738814, -0.0042623833452979185, -0.11875448671931098, -0.003546302943287868, 0.001001435750179468, 0.0008937544867193101, -0.12562814070351758], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23274556087459325, 0.2735927029363384, 0.2998500245984444, 0.013008082828457982, 0.030268465099488943, 0.032301174962743595, 0.9920774013469797], "count": [398]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04020100459456444], "std": [0.19643035531044006], "count": [398]}, "next.done": {"min": [false], "max": [true], "mean": [0.002512562814070352], "std": [0.05006245940997808], "count": [398]}, "timestamp": {"min": [0.0], "max": [19.85], "mean": [9.924999999999999], "std": [5.744617045547946], "count": [398]}, "frame_index": {"min": [0], "max": [397], "mean": [198.5], "std": [114.8923409109589], "count": [398]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [398]}, "index": {"min": [10890], "max": [11287], "mean": [11088.5], "std": [114.8923409109589], "count": [398]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [398]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5792896728515625]], [[0.542686066272212]], [[0.4938227461272595]]], "std": [[[0.1950150075742151]], [[0.1928643387414214]], [[0.22063939166523377]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6468829848345587]], [[0.539036595363243]], [[0.47375642544615504]]], "std": [[[0.15367828674668937]], [[0.20619934669269183]], [[0.20860125895871834]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6354611840341606]], [[0.5103124802533318]], [[0.4492152147480086]]], "std": [[[0.1533898776966111]], [[0.21227854984453073]], [[0.20902159771664236]]], "count": [100]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [280]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [280]}, "observation.state": {"min": [5.443943191740788, -3.439878905838795, 0.6999980585282177, 0.0, 0.0, -0.0008527937461622059, 0.9999996423721313, 0.16912893219622127, -0.15713485128796867, 0.2286700673291543, -0.999570906162262, -0.12572717666625977, -0.14870338141918182, 5.339963172446005e-05, 0.0005953329657692342, -0.04009048721261473], "max": [5.44496134911773, -3.4392563960417246, 0.7016238862738331, 0.0, 0.0, 0.0002704039798118174, 1.0, 0.40845725066712646, 0.49066379336104937, 0.5970890236193329, 0.9988328814506531, 0.12381529808044434, 0.24325843155384064, 0.18762166798114777, 0.04055000565138984, -0.0011172759266397227], "mean": [5.44437965133658, -3.4394710412122493, 0.7009278658054375, 0.0, 0.0, -0.00022425390801004142, 0.9999999646629606, 0.2831014155809948, 0.11964073049551846, 0.32199530936359255, 0.09554525017738343, 0.005871087465701359, 0.0010664175365361318, 0.06537116019274306, 0.03144923103219229, -0.028871041517499522], "std": [0.00040226053522883417, 0.0001593586603837333, 0.0006543442996273955, 0.0, 0.0, 0.0002488940100596164, 7.138224720159086e-08, 0.06506143601367394, 0.1757128910860317, 0.09031839767006848, 0.9852932345938664, 0.05423431304042919, 0.09894677392064609, 0.05502301470682518, 0.012361851073488132, 0.013069650115651543], "count": [280]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.925, -1.0, -0.6821428571428572, -0.3385714285714286, -0.15857142857142856, -0.12857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7821428571428571, 1.0, 0.9928571428571428, 0.15428571428571428, 0.16285714285714287, 0.15428571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05389030612244897, 0.1645280612244898, -0.05026785714285718, -0.022892857142857156, 0.010494897959183682, 0.0010918367346938794, -0.2642857142857143], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3195786310929098, 0.49457680758434525, 0.32990975117917476, 0.07273833976266281, 0.057619529484809355, 0.05120675255964898, 0.9644444313823842], "count": [280]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05714285746216774], "std": [0.23211537301540375], "count": [280]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035714285714285713], "std": [0.059654618173178804], "count": [280]}, "timestamp": {"min": [0.0], "max": [13.95], "mean": [6.975], "std": [4.041426109679602], "count": [280]}, "frame_index": {"min": [0], "max": [279], "mean": [139.5], "std": [80.82852219359204], "count": [280]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [280]}, "index": {"min": [11288], "max": [11567], "mean": [11427.5], "std": [80.82852219359204], "count": [280]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [280]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3861140848795573]], [[0.3430244984346278]], [[0.32625488041896444]]], "std": [[[0.19266423816494513]], [[0.16250894614660086]], [[0.16614893894487226]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3976045125325521]], [[0.35987384452071847]], [[0.3449890465829887]]], "std": [[[0.1944383587614579]], [[0.21428495758706023]], [[0.22496759132558003]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3920091804055607]], [[0.3555308640423943]], [[0.3415640312643612]]], "std": [[[0.17956680237689654]], [[0.19786016817768284]], [[0.20799508951880033]]], "count": [100]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [349]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [349]}, "observation.state": {"min": [4.5031407516511655, -0.9513578790273097, 0.699996986058658, 0.0, 0.0, 0.7066910266876221, 0.7059981226921082, 0.13171103287937636, -0.20674406003394363, 0.24178235621803779, -0.9933270215988159, -0.2775949537754059, -0.25144582986831665, 0.0003880705626215786, 0.02056045890947952, -0.040063769816575674], "max": [4.5046693011747285, -0.9503179385690161, 0.7022150032755012, 0.0, 0.0, 0.7082136869430542, 0.7075223922729492, 0.48900017590209294, 0.3598183736550782, 0.6030836400541261, 0.9652992486953735, 0.35617563128471375, 0.3545660674571991, 0.3346482217311859, 0.0407227932900276, -0.020506101728697337], "mean": [4.504132648013327, -0.9510746038801082, 0.7012607771056911, 0.0, 0.0, 0.7071289529431515, 0.7070842504842917, 0.3132541697172214, 0.13163394761630187, 0.3600272299114087, 0.18485268446640846, -0.07059028221662543, 0.09813976125594197, 0.14369735603691425, 0.038066507615653326, -0.03612655384090585], "std": [0.0005596854204811384, 0.00032921350500740457, 0.0006419102724616952, 0.0, 0.0, 0.0005045054917321925, 0.0005050495499920538, 0.10052752203804567, 0.16953896534677285, 0.08856158136259458, 0.9259489369470415, 0.15453845545345318, 0.19120160597622873, 0.11289168852941783, 0.0038873891154974725, 0.005067325700427465], "count": [349]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9821428571428572, -0.942857142857143, -0.7607142857142857, -0.15571428571428572, -0.2557142857142857, -0.15571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.24142857142857144, 0.07571428571428573, 0.13428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.012054850593532533, 0.03576545231273031, -0.04151657797789601, 0.009578387228817034, -0.0015390912812116243, -0.02236185018419976, -0.47277936962750716], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3700261151858684, 0.4606788218654507, 0.4359953525023733, 0.0806364152136397, 0.03692106955812442, 0.055725307678436295, 0.8811808370899907], "count": [349]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04584527388215065], "std": [0.20914940536022186], "count": [349]}, "next.done": {"min": [false], "max": [true], "mean": [0.0028653295128939827], "std": [0.05345202895752903], "count": [349]}, "timestamp": {"min": [0.0], "max": [17.4], "mean": [8.700000000000001], "std": [5.0373604199024715], "count": [349]}, "frame_index": {"min": [0], "max": [348], "mean": [174.0], "std": [100.74720839804942], "count": [349]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [349]}, "index": {"min": [11568], "max": [11916], "mean": [11742.0], "std": [100.74720839804942], "count": [349]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [349]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.533073886646944]], [[0.45348516247319237]], [[0.38953543928557754]]], "std": [[[0.14115897290776186]], [[0.1538321385915824]], [[0.1725437731993977]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.628889066808364]], [[0.6070987453086704]], [[0.5824233835257736]]], "std": [[[0.1591668777490201]], [[0.17210982848021034]], [[0.18491153019509698]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6220965636010263]], [[0.594471892113779]], [[0.5659524799421722]]], "std": [[[0.1625827808871306]], [[0.17858120319328188]], [[0.19476533774851548]]], "count": [100]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [322]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [322]}, "observation.state": {"min": [2.7977014592336737, -2.451617938007877, 0.6999992369656458, 0.0, 0.0, -0.7078295350074768, 0.7063832879066467, 0.19849292004943964, -0.2106807663923438, 0.23024798381924527, -0.9998814463615417, -0.2053551971912384, -0.13375751674175262, 0.000168417434906587, 0.012919947660193021, -0.03989195889147897], "max": [2.798255235637707, -2.4500103995732285, 0.7027335461707834, 0.0, 0.0, -0.7070653438568115, 0.7071481943130493, 0.5255633968889475, 0.14485530042722683, 0.588677143466783, 0.9957302212715149, 0.20336872339248657, 0.10215242207050323, 0.04408978670835495, 0.040309445639647466, -0.014819230204546686], "mean": [2.7978781361346616, -2.450687219877034, 0.7014579225352886, 0.0, 0.0, -0.7074490100700662, 0.7067642435894249, 0.3092565488796754, 0.016663571413879176, 0.3161822010046045, -0.8840499977517572, -0.09389489253994471, 0.002959884592573815, 0.02338313669288424, 0.030418208559882812, -0.032063045541159386], "std": [0.0001331874620343446, 0.0006932632010971397, 0.0011094649743317209, 0.0, 0.0, 0.00028858215726603, 0.0002888262976630523, 0.10608111561493597, 0.12105819050210201, 0.08793034192227873, 0.44344896772024006, 0.09630772978857166, 0.05486726020299907, 0.012297751417886936, 0.01060793990764831, 0.009372949979568234], "count": [322]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8196428571428573, -0.6428571428571429, -0.5464285714285714, -0.17142857142857143, -0.23785714285714282, -0.05785714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9910714285714286, 0.9321428571428573, 0.8571428571428572, 0.07071428571428573, 0.09, 0.12000000000000001, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.06536712511091393, 0.04162599822537713, -0.07804458740017749, -0.0028682342502218284, 0.0038132209405501295, 0.008677905944986688, -0.22981366459627328], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.30101165328349, 0.2828408383212272, 0.2949468560945578, 0.028112466147319014, 0.04931743675300264, 0.027843114250305404, 0.9732346477416586], "count": [322]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08695652335882187], "std": [0.28177136182785034], "count": [322]}, "next.done": {"min": [false], "max": [true], "mean": [0.003105590062111801], "std": [0.055641220084375526], "count": [322]}, "timestamp": {"min": [0.0], "max": [16.05], "mean": [8.025], "std": [4.647647254256717], "count": [322]}, "frame_index": {"min": [0], "max": [321], "mean": [160.5], "std": [92.95294508513435], "count": [322]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [322]}, "index": {"min": [11917], "max": [12238], "mean": [12077.5], "std": [92.95294508513435], "count": [322]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [322]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08627450980392157]], [[0.0784313725490196]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7171433685901119]], [[0.6115424571317785]], [[0.5120157865636489]]], "std": [[[0.1904416267236747]], [[0.14629056545248895]], [[0.11930302005495305]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.08627450980392157]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5126458668428309]], [[0.46188909134210326]], [[0.4430364864573759]]], "std": [[[0.21094877900183157]], [[0.18750424766867427]], [[0.17120591739682917]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.09411764705882353]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5448814481847427]], [[0.48453192258348654]], [[0.45858298627068017]]], "std": [[[0.21127507803566492]], [[0.18797294221509053]], [[0.1700233069430537]]], "count": [100]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [385]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [385]}, "observation.state": {"min": [3.021444258617093, -0.8076300230636915, 0.6999993045901888, 0.0, 0.0, 0.7070730924606323, 0.7070804238319397, 0.2516085748762883, -0.1558216654814033, 0.23381789545152032, -0.9985995292663574, -0.32030990719795227, -0.13204585015773773, 8.891979086911306e-05, 0.020536517546964804, -0.04038192236919094], "max": [3.0215449684648767, -0.8075404989283255, 0.7031199939002845, 0.0, 0.0, 0.7071330547332764, 0.7071403861045837, 0.5019608643879001, 0.1910509138625467, 0.5812178355880688, 0.997803270816803, 0.32700908184051514, 0.11062061041593552, 0.1005997583270073, 0.04071881356888706, -0.011592870614322614], "mean": [3.0215025787512833, -0.8075518658477291, 0.7011579347701571, 0.0, 0.0, 0.7071081669299634, 0.7071053508040193, 0.38033036945751403, -0.034313291401583165, 0.3282197339396333, -0.32667585193336784, 0.0011132744709392646, -0.05273982237013587, 0.025729023011355184, 0.03676761333564111, -0.0358118923330584], "std": [1.0577752193877325e-05, 1.4944022004886573e-05, 0.0009168076275396232, 0.0, 0.0, 6.379855647125591e-06, 6.380856064722321e-06, 0.07581037596432821, 0.11235713876171613, 0.07807977316864004, 0.9217667579079771, 0.19129118841321843, 0.056169210284125165, 0.02090263555830721, 0.003731528449849676, 0.006962692085878755], "count": [385]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8250000000000001, -0.7357142857142858, -0.4357142857142858, -0.09142857142857143, -0.07285714285714286, -0.14857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45, 0.5857142857142857, 0.6535714285714286, 0.15571428571428572, 0.18428571428571427, 0.30285714285714294, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.012495361781076077, -0.02504638218923935, -0.05841372912801484, 0.005614100185528756, 0.004178107606679038, -0.00315398886827458, -0.2675324675324675], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23636079953327999, 0.2295469193894726, 0.28002878916062884, 0.026281630974032317, 0.0440418093764123, 0.0623857928867844, 0.9635488460975856], "count": [385]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09610389918088913], "std": [0.2947336733341217], "count": [385]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025974025974025974], "std": [0.05089848816172838], "count": [385]}, "timestamp": {"min": [0.0], "max": [19.2], "mean": [9.6], "std": [5.556977595779922], "count": [385]}, "frame_index": {"min": [0], "max": [384], "mean": [192.0], "std": [111.13955191559843], "count": [385]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [385]}, "index": {"min": [12239], "max": [12623], "mean": [12431.0], "std": [111.13955191559843], "count": [385]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [385]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5810496640672871]], [[0.4914287809484145]], [[0.40991790412454043]]], "std": [[[0.21472604518670452]], [[0.2465437794523563]], [[0.28311872498836715]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09411764705882353]], [[0.09411764705882353]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6288889620911842]], [[0.6113954569498699]], [[0.5864741653741575]]], "std": [[[0.18917960373464265]], [[0.1987478185498394]], [[0.2042514526221556]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.06274509803921569]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6371583269904642]], [[0.6186775488759958]], [[0.593276076372932]]], "std": [[[0.18405918818481667]], [[0.19655463573772497]], [[0.20549747725660297]]], "count": [100]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [415]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [415]}, "observation.state": {"min": [4.097861205847625, -2.9630534143761307, 0.6999885565880581, 0.0, 0.0, -0.7071838974952698, 0.7070297002792358, 0.040249155180223095, -0.19569372270495178, 0.2401464757853209, -0.9914160966873169, -0.1771818995475769, -0.1522212028503418, 0.002114840317517519, 0.004919651165452641, -0.040638939625767416], "max": [4.0979192252160335, -2.9629815424682873, 0.7029767144078692, 0.0, 0.0, -0.7071266174316406, 0.7070868611335754, 0.47367217059538547, 0.14355534030001493, 0.607507312711803, 0.9894121289253235, 0.36335209012031555, 0.1632838398218155, 0.08247174322605133, 0.04018759961829301, -0.012591427576801609], "mean": [4.097877947641967, -2.9630440111902763, 0.7008881843549433, 0.0, 0.0, -0.7071646749255169, 0.7070488424186246, 0.2707429015267413, -0.012745931091341705, 0.3546452022017767, 0.7761674856565085, 0.20888245791555887, 0.044814451640690624, 0.048098490276115846, 0.03444725296931014, -0.038219308010557035], "std": [7.363937754098756e-06, 1.2565642648358175e-05, 0.0007976214790538477, 0.0, 0.0, 6.846533121083907e-06, 6.830907874310266e-06, 0.12327482205799553, 0.07389550355342513, 0.10579973450210817, 0.5690845010405658, 0.13637951087268643, 0.08238223201369982, 0.019156710648845145, 0.007930792015834348, 0.004077301991838389], "count": [415]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6607142857142857, -0.5535714285714286, -0.6571428571428571, -0.11285714285714285, -0.28285714285714286, -0.06285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7464285714285714, 0.6928571428571428, 0.8214285714285715, 0.04285714285714286, 0.1357142857142857, 0.24714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00034423407917384864, -0.03574010327022374, -0.12726333907056822, -0.0011359724612736652, -0.010230636833046475, 0.004137693631669525, -0.42168674698795183], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23817601398883326, 0.20713194955503803, 0.27525812860858145, 0.020295286384510353, 0.05221497538494679, 0.054646439178298756, 0.9067415769747832], "count": [415]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03855421766638756], "std": [0.19253000617027283], "count": [415]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024096385542168677], "std": [0.04902889144427905], "count": [415]}, "timestamp": {"min": [0.0], "max": [20.7], "mean": [10.35], "std": [5.989991652748775], "count": [415]}, "frame_index": {"min": [0], "max": [414], "mean": [207.0], "std": [119.7998330549755], "count": [415]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [415]}, "index": {"min": [12624], "max": [13038], "mean": [12831.0], "std": [119.7998330549755], "count": [415]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [415]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6477487775017233]], [[0.5694441809560739]], [[0.492337698543773]]], "std": [[[0.23931061375159055]], [[0.27149939986936383]], [[0.28968983985155655]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5490029260971967]], [[0.45156734212239585]], [[0.37695287607230393]]], "std": [[[0.20788967664289723]], [[0.2574204014316797]], [[0.28976862858159785]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5360762275247012]], [[0.44095847574869795]], [[0.3713085398954504]]], "std": [[[0.19479192905117276]], [[0.2416743438740945]], [[0.2755787162321694]]], "count": [100]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [388]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [388]}, "observation.state": {"min": [3.739245612391204, -1.49318122922057, 0.6999965100743357, 0.0, 0.0, -0.00013770765508525074, 1.0, 0.15729993982529455, -0.268252540816738, 0.22953320827572155, -0.9971602559089661, -0.24030309915542603, -0.23912763595581055, 0.00034007395152002573, 0.02054361903513902, -0.040893811243481744], "max": [3.7393753052328123, -1.492892471402334, 0.7052058780568745, 0.0, 0.0, 5.272695125313476e-05, 1.0, 0.3856428187282628, 0.21578732236483567, 0.5865686115899562, 0.9729917049407959, 0.16802355647087097, 0.1852390468120575, 0.17403961718082428, 0.041083793317224435, -0.02052293977553072], "mean": [3.7393595231757346, -1.493065514179228, 0.701729945692821, 0.0, 0.0, -7.339055448143234e-05, 1.0, 0.2864477306396648, -0.04769914738624054, 0.32401019597505337, -0.7304715276071706, 0.009477951208647993, -0.06187310688154557, 0.04776724565266535, 0.03888806945795199, -0.03579353194878894], "std": [2.3021435514414586e-05, 2.5834463835585866e-05, 0.0013396456206412988, 0.0, 0.0, 1.8266635400949247e-05, 0.0, 0.06286421029084623, 0.12456081389332499, 0.08129348935009825, 0.6593871743644016, 0.09361970462079018, 0.1228145758217662, 0.039648696123058526, 0.0023664886347538163, 0.005885641014454865], "count": [388]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.44642857142857145, -0.725, -0.5535714285714286, -0.1357142857142857, -0.22999999999999998, -0.08428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4785714285714286, 0.6464285714285715, 0.6535714285714286, 0.04857142857142857, 0.12714285714285714, 0.11571428571428573, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010815537555228273, 0.049622606774668634, -0.11122054491899848, -0.004363033873343152, -0.0061156111929307816, -0.005000000000000004, -0.21649484536082475], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2012285640588162, 0.26102344806129585, 0.30217566611569774, 0.027118998059756916, 0.05224370273454421, 0.03820098387956417, 0.9762837609692113], "count": [388]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04381443187594414], "std": [0.20468200743198395], "count": [388]}, "next.done": {"min": [false], "max": [true], "mean": [0.002577319587628866], "std": [0.05070184426006702], "count": [388]}, "timestamp": {"min": [0.0], "max": [19.35], "mean": [9.674999999999999], "std": [5.600279010906511], "count": [388]}, "frame_index": {"min": [0], "max": [387], "mean": [193.5], "std": [112.0055802181302], "count": [388]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [388]}, "index": {"min": [13039], "max": [13426], "mean": [13232.5], "std": [112.0055802181302], "count": [388]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [388]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4372197696461397]], [[0.3963859982958027]], [[0.3680734486299403]]], "std": [[[0.19057918191268636]], [[0.1874222136055849]], [[0.19663652813589574]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48010689828910075]], [[0.45749282178691786]], [[0.43652488259708183]]], "std": [[[0.18252357480435813]], [[0.18610670796840065]], [[0.19429150083208285]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48239247580135575]], [[0.4639804418227252]], [[0.4408812363568474]]], "std": [[[0.1775375312630156]], [[0.18229832831833342]], [[0.19307312730447745]]], "count": [100]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [255]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [255]}, "observation.state": {"min": [0.783168255717529, -5.487287236470314, 0.6999930009029708, 0.0, 0.0, -1.0, 9.85429414868122e-06, 0.16900886503730783, -0.29278977252022464, 0.23524789186856476, -0.9960607886314392, -0.07049162685871124, -0.23637613654136658, 0.00041447480907663703, 0.01904026913861229, -0.04087766558831534], "max": [0.7839717084530204, -5.485203624431016, 0.7014647380770449, 0.0, 0.0, 1.0, 0.0025539679918438196, 0.3350188953107926, 0.21757480731999745, 0.6006243420372465, 0.9686340093612671, 0.14038266241550446, 0.36059606075286865, 0.11238821595907211, 0.040007176125454263, -0.02049629672464855], "mean": [0.78360090857064, -5.485924150942124, 0.7006373537343403, 0.0, 0.0, -0.4352932972066543, 0.0009295226228227965, 0.26343658624789756, 0.034785142764789, 0.32895881873216454, -0.7903013949300729, 0.035058746530729185, -0.03198848889647599, 0.06272284095517962, 0.03271605474394074, -0.035084423920616115], "std": [0.00028372628315428413, 0.0007790707421282925, 0.0005269569081768621, 0.0, 0.0, 0.9002877898362736, 0.0009111160783756598, 0.041292109110903856, 0.11529968750377935, 0.08099335642197189, 0.5893873343729003, 0.0665797278119498, 0.12797786019729201, 0.03238121297176873, 0.008812428952062966, 0.0068152126457688], "count": [255]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.775, -1.0, -0.6821428571428572, -0.10857142857142858, -0.2671428571428571, -0.07428571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.525, 0.7642857142857143, 0.775, 0.10142857142857144, 0.11857142857142858, 0.12285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.028893557422969177, -0.10976190476190477, -0.09900560224089634, 0.00014565826330532164, -0.01784873949579831, 0.000521008403361351, -0.396078431372549], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24055725595347663, 0.3718721674136049, 0.3467199842345613, 0.0344788385575874, 0.07301343927207857, 0.04143669217742864, 0.9182166825981009], "count": [255]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.062745101749897], "std": [0.24250391125679016], "count": [255]}, "next.done": {"min": [false], "max": [true], "mean": [0.00392156862745098], "std": [0.062499519413761674], "count": [255]}, "timestamp": {"min": [0.0], "max": [12.7], "mean": [6.35], "std": [3.68057966449127], "count": [255]}, "frame_index": {"min": [0], "max": [254], "mean": [127.0], "std": [73.6115932898254], "count": [255]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [255]}, "index": {"min": [13427], "max": [13681], "mean": [13554.0], "std": [73.6115932898254], "count": [255]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [255]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9725490196078431]], [[0.9803921568627451]]], "mean": [[[0.6041704430673637]], [[0.5566173155541514]], [[0.5117795643525965]]], "std": [[[0.23630744675855353]], [[0.23844082133889008]], [[0.286411188941606]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5734412075865503]], [[0.4640780454149433]], [[0.4042414796118643]]], "std": [[[0.24085896721013791]], [[0.2954866973638316]], [[0.3134454653939114]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5763824815937117]], [[0.4664928385416667]], [[0.4063456474752987]]], "std": [[[0.24279870296115563]], [[0.2965379411469673]], [[0.3138777339992159]]], "count": [100]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [205]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [205]}, "observation.state": {"min": [5.91941740273199, -1.5351986782103093, 0.6999982536449163, 0.0, 0.0, -0.0010619539534673095, 0.9999995231628418, 0.2348978617547104, -0.23738981254261482, 0.2349822493046334, -0.9910885095596313, -0.4354656934738159, -0.18135373294353485, 0.0003823181032203138, 0.01840942646757953, -0.041003568976898046], "max": [5.920041815490415, -1.534488283667007, 0.7008395451152849, 0.0, 0.0, -5.464959758683108e-05, 1.0, 0.38192735417872026, 0.26929324480375305, 0.6129254865057753, 0.9845176339149475, 0.41105538606643677, 0.20388095080852509, 0.05921107158064842, 0.039903244625208355, -0.018844638301566685], "mean": [5.919716841366964, -1.5348168076040967, 0.7004533029815488, 0.0, 0.0, -0.0005495101842914265, 0.9999998220583287, 0.309520868102572, -0.0015000950121413844, 0.33432161258454735, -0.139253383729516, -0.009994715742948579, -0.009582288199808539, 0.026284073834966233, 0.03269795168626998, -0.03479249206799338], "std": [0.00021456302108375177, 0.0002220064508349034, 0.0002940432985524071, 0.0, 0.0, 0.00033159752722631316, 1.578065129516347e-07, 0.04441868532749464, 0.13701959756296894, 0.08816425688902643, 0.9517361079730993, 0.22834581370812015, 0.14677508907203757, 0.01547830011299589, 0.008985464927115707, 0.0072077703539662925], "count": [205]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5035714285714286, -1.0, -0.8428571428571429, -0.11142857142857143, -0.16714285714285715, -0.10857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5392857142857143, 1.0, 0.9464285714285714, 0.1657142857142857, 0.15285714285714286, 0.32857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04022648083623693, 0.07017421602787463, -0.08411149825783967, -0.0019303135888501762, 0.005783972125435542, 0.02781881533101045, -0.48292682926829267], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20061468749281414, 0.4795004187486022, 0.405985787244694, 0.05286559045360394, 0.04357282938230553, 0.07803364275798533, 0.8756607091635853], "count": [205]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07804878056049347], "std": [0.2682483196258545], "count": [205]}, "next.done": {"min": [false], "max": [true], "mean": [0.004878048780487805], "std": [0.06967247247358878], "count": [205]}, "timestamp": {"min": [0.0], "max": [10.2], "mean": [5.1], "std": [2.9588849251026983], "count": [205]}, "frame_index": {"min": [0], "max": [204], "mean": [102.0], "std": [59.177698502053964], "count": [205]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [205]}, "index": {"min": [13682], "max": [13886], "mean": [13784.0], "std": [59.177698502053964], "count": [205]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [205]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6881563415527344]], [[0.636330675312117]], [[0.5890891023523668]]], "std": [[[0.1784959548078777]], [[0.20551024574917193]], [[0.2544945714616112]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7172341589834176]], [[0.6729203682693781]], [[0.6218356628417968]]], "std": [[[0.1283630354151337]], [[0.1444513909065224]], [[0.17646593071464756]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7261090692258348]], [[0.6816510231167662]], [[0.6294142593682981]]], "std": [[[0.12590494615652117]], [[0.13685850354213838]], [[0.16777345289309184]]], "count": [100]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [391]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [391]}, "observation.state": {"min": [1.9539018736297105, -1.7086745454414298, 0.699999136934199, 0.0, 0.0, -0.7071881294250488, 0.7070254683494568, 0.22872635298876287, -0.30013923751272475, 0.22795852689964624, -0.9969070553779602, -0.32548829913139343, -0.24729546904563904, 5.420334218797507e-06, 0.01577871694605071, -0.04027732706077386], "max": [1.9540948730787815, -1.7086188382030096, 0.7029897947147515, 0.0, 0.0, -0.7070516347885132, 0.7071618437767029, 0.47945021929931486, 0.12074874684457715, 0.5917550245088808, 0.9985234141349792, 0.4505994915962219, 0.25057515501976013, 0.13616976141929626, 0.040523819561838995, -0.020524118557217995], "mean": [1.9539959835756084, -1.708666959713453, 0.7009877356548689, 0.0, 0.0, -0.7071092224791836, 0.7071042893182896, 0.36192835253534755, -0.044995983676909886, 0.3378695103358076, -0.3123956831824749, 0.18591587298818865, -0.047524253782980586, 0.04691035828806035, 0.0365497804746534, -0.036603756579114424], "std": [1.837600922314378e-05, 9.454652977108886e-06, 0.0009131616028497342, 0.0, 0.0, 1.2867595704604808e-05, 1.2864356517516461e-05, 0.07634938245463133, 0.1236075454167057, 0.08627565911938437, 0.8943110893385754, 0.22403790162121323, 0.10577940316358182, 0.04701593265699251, 0.006904368140456997, 0.004237404208875747], "count": [391]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6214285714285714, -0.7714285714285714, -0.5714285714285715, -0.06571428571428571, -0.10857142857142858, -0.1657142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40714285714285714, 0.6357142857142857, 0.6928571428571428, 0.10428571428571429, 0.2014285714285714, 0.35428571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.013728534892217792, 0.027073438070880484, -0.07008586043112902, 0.0038436244062842588, 0.018407014979905007, 0.01726708074534162, -0.3452685421994885], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19883621644009428, 0.2553338570415844, 0.27756249411010964, 0.021408168948450903, 0.04920092312686477, 0.10413255061153769, 0.938503933804993], "count": [391]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06393861770629883], "std": [0.24464356899261475], "count": [391]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025575447570332483], "std": [0.05050746204125703], "count": [391]}, "timestamp": {"min": [0.0], "max": [19.5], "mean": [9.75], "std": [5.643580423808985], "count": [391]}, "frame_index": {"min": [0], "max": [390], "mean": [195.0], "std": [112.8716084761797], "count": [391]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [391]}, "index": {"min": [13887], "max": [14277], "mean": [14082.0], "std": [112.8716084761797], "count": [391]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [391]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9882352941176471]]], "mean": [[[0.6705171024098115]], [[0.6014151910520068]], [[0.5361819266524969]]], "std": [[[0.21886554571065914]], [[0.257779481709429]], [[0.3007492593932987]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5495212462182139]], [[0.5206870416379443]], [[0.510108419380936]]], "std": [[[0.21066369150964406]], [[0.22815339559946984]], [[0.24787315930553946]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5561797090418199]], [[0.528145860858992]], [[0.5179064534505208]]], "std": [[[0.2151006667634455]], [[0.23147968830052496]], [[0.2486616460055097]]], "count": [100]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [349]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [349]}, "observation.state": {"min": [1.543182457198267, -5.555387239511284, 0.6999989920803517, 0.0, 0.0, -0.7071350812911987, 0.7070783972740173, 0.2384836723099948, -0.1785161461175, 0.232202187866822, -0.9990236163139343, -0.0892101526260376, -0.17043356597423553, 0.0005101989954710007, 0.015382718868050748, -0.04025071805274598], "max": [1.5432957699415673, -5.5553173092143275, 0.7035888790614372, 0.0, 0.0, -0.7070600986480713, 0.7071534395217896, 0.438564869182799, 0.17400991868508298, 0.6052796561468466, 0.9991051554679871, 0.029350105673074722, 0.0353037528693676, 0.044170890003442764, 0.0400021562004782, -0.015379509739686664], "mean": [1.5432447764842097, -5.55537646360518, 0.7014815033023925, 0.0, 0.0, -0.7071065431337985, 0.707106970101168, 0.33590739376537576, 0.00727855567990261, 0.3127375116137412, -0.26215315582417487, -0.030515398072308318, -0.07087148346027479, 0.024855738719871914, 0.034085504915933415, -0.03198955643753927], "std": [1.236169928210102e-05, 1.554204279008413e-05, 0.0011595086531864822, 0.0, 0.0, 6.661280520166049e-06, 6.660147917632638e-06, 0.05735552626176473, 0.08859894049621662, 0.0894268524328898, 0.9593761228777193, 0.04071440483319664, 0.05046131905152041, 0.009869407507522555, 0.007822870035110497, 0.008651153755766965], "count": [349]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.32857142857142857, -0.575, -0.475, -0.04428571428571428, -0.08285714285714285, -0.047142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35714285714285715, 0.5071428571428571, 0.6285714285714287, 0.03857142857142857, 0.23285714285714285, 0.04, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03725951698731064, -0.036236185018419985, -0.10110519852640192, -0.0024519033974621358, 0.012026197298403611, 0.000814572247237005, -0.18051575931232092], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.146735582081129, 0.20274214641747165, 0.23646497410894363, 0.009770453815699432, 0.0422009335452976, 0.012649556766637095, 0.9835720922433189], "count": [349]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04584527388215065], "std": [0.20914940536022186], "count": [349]}, "next.done": {"min": [false], "max": [true], "mean": [0.0028653295128939827], "std": [0.05345202895752903], "count": [349]}, "timestamp": {"min": [0.0], "max": [17.4], "mean": [8.700000000000001], "std": [5.0373604199024715], "count": [349]}, "frame_index": {"min": [0], "max": [348], "mean": [174.0], "std": [100.74720839804942], "count": [349]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [349]}, "index": {"min": [14278], "max": [14626], "mean": [14452.0], "std": [100.74720839804942], "count": [349]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [349]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09019607843137255]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6126731645172717]], [[0.5356174436083028]], [[0.45426787971047794]]], "std": [[[0.16992095430157508]], [[0.203988236271074]], [[0.231488777202127]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.058823529411764705]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6891879601572074]], [[0.6302837207270603]], [[0.5625616090063955]]], "std": [[[0.13211803323649896]], [[0.16042369194875622]], [[0.18788815068197504]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6905603571873086]], [[0.6304543032178692]], [[0.5620225471047795]]], "std": [[[0.1300250279219186]], [[0.16069617568476788]], [[0.18783108953208102]]], "count": [100]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [276]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [276]}, "observation.state": {"min": [2.3135997090349645, -3.4425606211633375, 0.6999923395452754, 0.0, 0.0, -1.0, 6.057295820482977e-08, 0.17896621088352038, -0.07313865086811466, 0.23069435727759313, -0.9960249662399292, -0.2153151035308838, -0.4017654061317444, 4.645906301448122e-05, 0.020561371659780506, -0.04025313545820862], "max": [2.3146547225466767, -3.4410194719670217, 0.7017116191929464, 0.0, 0.0, 1.0, 0.0006145749357528985, 0.4715618378644746, 0.2489171488667834, 0.5729915388777004, 0.9951602816581726, 0.06770363450050354, 0.31676557660102844, 0.07524922490119934, 0.04122279322341798, -0.0205051875798958], "mean": [2.313882750515306, -3.442087864742079, 0.7004795099703832, 0.0, 0.0, 0.03623185382373091, 0.00019742122947217513, 0.29524219526484247, 0.09652101921116008, 0.3235486737896931, -0.021240017768265545, -0.04411287535575853, -0.027893172873966934, 0.023745623737367154, 0.03881534315437553, -0.03760014979772834], "std": [0.00039973859463169297, 0.0005658876714039004, 0.0006571390167520003, 0.0, 0.0, 0.9993433805754747, 0.00019726977674141985, 0.08006832956973917, 0.10752230711574237, 0.07735684600153732, 0.9785840681168295, 0.086067951025703, 0.1759952320242408, 0.015881981674048893, 0.0023189488083485386, 0.0029460888188654216], "count": [276]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8857142857142857, -0.7035714285714285, -0.6535714285714286, -0.15714285714285714, -0.14142857142857143, -0.1242857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7892857142857144, 1.0, 1.0, 0.1357142857142857, 0.1357142857142857, 0.14, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04218426501035197, 0.05689699792960663, -0.04201604554865429, -0.000527950310559007, -0.00697722567287785, -0.003126293995859212, -0.45652173913043476], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3318856421636612, 0.339590258603511, 0.3983797836858066, 0.040413448907712445, 0.02822490298109918, 0.052907633745117345, 0.8897122578122229], "count": [276]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08695652335882187], "std": [0.28177136182785034], "count": [276]}, "next.done": {"min": [false], "max": [true], "mean": [0.0036231884057971015], "std": [0.060083782433974636], "count": [276]}, "timestamp": {"min": [0.0], "max": [13.75], "mean": [6.875], "std": [3.983690709212585], "count": [276]}, "frame_index": {"min": [0], "max": [275], "mean": [137.5], "std": [79.6738141842517], "count": [276]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [276]}, "index": {"min": [14627], "max": [14902], "mean": [14764.5], "std": [79.6738141842517], "count": [276]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [276]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.06274509803921569]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6711763126148897]], [[0.6109917692296645]], [[0.5518139732211244]]], "std": [[[0.17261543330735005]], [[0.19731947567205924]], [[0.24440231302457988]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7654539106780408]], [[0.7209546790029489]], [[0.6666264726227404]]], "std": [[[0.2592625716287558]], [[0.2446629622087912]], [[0.24111622311786504]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7743770285213695]], [[0.7176612638585708]], [[0.6493575601016774]]], "std": [[[0.2263620881221636]], [[0.22365752362753152]], [[0.23410370569703792]]], "count": [100]}, "annotation.human.task_description": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [424]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [424]}, "observation.state": {"min": [3.0385955731570475, -0.817662497962754, 0.6999978007390377, 0.0, 0.0, 0.7069985866546631, 0.7071051001548767, 0.19446482943491683, -0.29242669424534284, 0.23541010316539868, -0.9958968162536621, -0.11678445339202881, -0.15738019347190857, 0.00015120777243282646, 0.004936437773343874, -0.03996286291233594], "max": [3.03872991070097, -0.8175050422958396, 0.7002194823932861, 0.0, 0.0, 0.7071084380149841, 0.7072149515151978, 0.38635050003233795, 0.05416145180377985, 0.5997326905901499, 0.9957305788993835, 0.11454413831233978, 0.09895291179418564, 0.03341979160904884, 0.04000202879627464, -0.005628914872879174], "mean": [3.0386709274477, -0.8175937200995603, 0.7000996651595849, 0.0, 0.0, 0.7070506147618564, 0.7071629418235905, 0.2670393065384324, -0.054322357440930315, 0.31345477468437033, -0.8526218779525667, -0.08504220114071977, 0.006805119151141632, 0.013574685225940589, 0.033137453744988894, -0.03277868441687286], "std": [4.362227011532515e-05, 5.314971095472497e-05, 7.590674076015302e-05, 0.0, 0.0, 3.1069169213792585e-05, 3.110871118475283e-05, 0.04846336656497896, 0.10793345826163168, 0.0870690196617732, 0.5094662336667372, 0.0534834185752097, 0.05575148291947015, 0.0069732989437951655, 0.012019840360020762, 0.011940311987717177], "count": [424]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8714285714285716, -0.5357142857142857, -0.5714285714285715, -0.15142857142857147, -0.11142857142857143, -0.022857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9, 0.27142857142857146, 0.6642857142857144, 0.10285714285714286, 0.2714285714285714, 0.20857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.003739892183288399, -0.0501347708894879, -0.05402628032345017, -0.0018059299191374662, 0.00829514824797844, 0.00240566037735849, -0.41509433962264153], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25116252717064336, 0.1473264207504259, 0.18706430596297424, 0.022224483828249934, 0.054218115696185176, 0.017443683925477686, 0.9097783736785794], "count": [424]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06367924809455872], "std": [0.24418066442012787], "count": [424]}, "next.done": {"min": [false], "max": [true], "mean": [0.0023584905660377358], "std": [0.0485069900971772], "count": [424]}, "timestamp": {"min": [0.0], "max": [21.15], "mean": [10.575000000000001], "std": [6.119895832446824], "count": [424]}, "frame_index": {"min": [0], "max": [423], "mean": [211.5], "std": [122.39791664893647], "count": [424]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [424]}, "index": {"min": [14903], "max": [15326], "mean": [15114.5], "std": [122.39791664893647], "count": [424]}, "task_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [424]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.058823529411764705]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.618985154095818]], [[0.5443456121706495]], [[0.47379724360447306]]], "std": [[[0.1651137839826869]], [[0.17430922671552584]], [[0.18947491767743824]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6278233247644761]], [[0.5888918068081724]], [[0.5465006378772211]]], "std": [[[0.15969759331046268]], [[0.1609126564440955]], [[0.16416013685604647]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.589503230674594]], [[0.5529394591088389]], [[0.5144547412348729]]], "std": [[[0.187159330633466]], [[0.18449272261420332]], [[0.18665720329089006]]], "count": [100]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [339]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [339]}, "observation.state": {"min": [0.8361814827589782, -3.0951416278285264, 0.6999959229355517, 0.0, 0.0, -1.0, 7.651820510545804e-08, 0.1979055409271172, -0.2607029928702791, 0.23487699232923764, -0.9967805743217468, -0.05247609317302704, -0.4074576795101166, 1.5299139704438858e-05, 0.015453798883264588, -0.04070874041772024], "max": [0.8363165115311919, -3.0943208988026174, 0.7004477280196295, 0.0, 0.0, 1.0, 0.0009091638494282961, 0.518768103620044, 0.1394762547217634, 0.6064096856180924, 0.9911684989929199, 0.062393784523010254, 0.15059302747249603, 0.11008580774068832, 0.04000964063700264, -0.020526271332222002], "mean": [0.836266304736244, -3.0948598792348774, 0.7002976030445799, 0.0, 0.0, -0.9646015445039687, 0.0005910624105217067, 0.35069128049795556, -0.03946373518346116, 0.337354549455952, -0.8254720144918887, 0.01473094252622233, -0.19022059765888877, 0.03422815075912354, 0.03497543621705336, -0.03740010466275299], "std": [4.267095765781602e-05, 0.0003100515329878545, 0.00016863299923204346, 0.0, 0.0, 0.2637108445353702, 0.0003418919774616523, 0.09838423455275902, 0.10790311175279947, 0.0798173962005893, 0.5124917082915936, 0.043738234067217316, 0.12546362704815636, 0.02686261125532121, 0.007923699727227555, 0.003955616259201413], "count": [339]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7071428571428572, -0.775, -0.6607142857142857, -0.18285714285714286, -0.25857142857142856, -0.13714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4321428571428571, 0.8857142857142857, 0.7071428571428572, 0.1242857142857143, 0.20428571428571432, 0.08285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.006005056890012641, 0.023798988621997447, -0.04567003792667507, 0.0016729877791824698, -0.008251158870627892, -0.0017699115044247794, -0.5162241887905604], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21362110667820924, 0.32526955797065316, 0.3064359845233462, 0.03518607081177747, 0.059578161194051016, 0.029545515519513628, 0.8564534937213648], "count": [339]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04719763994216919], "std": [0.21206136047840118], "count": [339]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029498525073746312], "std": [0.05423237849808329], "count": [339]}, "timestamp": {"min": [0.0], "max": [16.9], "mean": [8.450000000000001], "std": [4.893022242609026], "count": [339]}, "frame_index": {"min": [0], "max": [338], "mean": [169.0], "std": [97.86044485218052], "count": [339]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [339]}, "index": {"min": [15327], "max": [15665], "mean": [15496.0], "std": [97.86044485218052], "count": [339]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [339]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6236929339240579]], [[0.5277915218577666]], [[0.4749508146398208]]], "std": [[[0.161280607820778]], [[0.23045742362174818]], [[0.28882270103812335]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.08627450980392157]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.668083371629902]], [[0.5969873034907321]], [[0.5407828536688113]]], "std": [[[0.1762972788484971]], [[0.21992293442890196]], [[0.25213117506435323]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.0784313725490196]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6705215633616728]], [[0.598505402209712]], [[0.541481430352903]]], "std": [[[0.17279234253569684]], [[0.21689805158745992]], [[0.24956309042281494]]], "count": [100]}, "annotation.human.task_description": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [259]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [259]}, "observation.state": {"min": [2.8158135366986774, -2.0042945760932236, 0.6999954761968059, 0.0, 0.0, -0.7072389125823975, 0.7069746851921082, 0.21723999445997766, -0.12235680236722413, 0.2325551461258465, -0.9930358529090881, -0.2666948735713959, -0.2648926079273224, 0.0005462743574753404, 0.01875262686590823, -0.039900419605427916], "max": [2.8162135464794504, -2.0039861070689, 0.7003938174199686, 0.0, 0.0, -0.7069921493530273, 0.7072214484214783, 0.4521541933379254, 0.2176182914029452, 0.604903415677458, 0.9855883717536926, 0.12977948784828186, 0.24800878763198853, 0.08590324223041534, 0.040602005158164534, -0.018403271786810557], "mean": [2.8160406203141, -2.0042195789536534, 0.7000898076229322, 0.0, 0.0, -0.7071280709564916, 0.7070854589285538, 0.2923876171387787, 0.06285066529286255, 0.32231055340743736, -0.6368154584210812, -0.02701192073034964, -0.10271719555481981, 0.030246570847953694, 0.03475073962210754, -0.034479748173998265], "std": [0.00011130524080572979, 0.00010424972835850194, 0.00015305877784470507, 0.0, 0.0, 4.884555997400913e-05, 4.882665304693503e-05, 0.053227195185468965, 0.12164994332346013, 0.08852954287011301, 0.7460534675951069, 0.06336612948964043, 0.14578603931780806, 0.02015300632295521, 0.00729615278983617, 0.007407913149117674], "count": [259]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.41071428571428575, -0.8392857142857143, -0.7107142857142857, -0.09428571428571429, -0.2285714285714286, -0.15142857142857147, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8107142857142857, 1.0, 1.0, 0.09857142857142857, 0.10857142857142858, 0.06, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03896856039713185, 0.05776337562051849, -0.07850248207391068, -9.928295642581224e-05, -0.008334252619966906, -0.019260893546607826, -0.4826254826254826], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21232126737097196, 0.33756145757800415, 0.35434027953201597, 0.03528743807740781, 0.04176337893867725, 0.04171229394547766, 0.8758268342089781], "count": [259]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0617760606110096], "std": [0.24074837565422058], "count": [259]}, "next.done": {"min": [false], "max": [true], "mean": [0.003861003861003861], "std": [0.06201690503555602], "count": [259]}, "timestamp": {"min": [0.0], "max": [12.9], "mean": [6.449999999999999], "std": [3.7383151285037486], "count": [259]}, "frame_index": {"min": [0], "max": [258], "mean": [129.0], "std": [74.76630257007497], "count": [259]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [259]}, "index": {"min": [15666], "max": [15924], "mean": [15795.0], "std": [74.76630257007497], "count": [259]}, "task_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [259]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.058823529411764705]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6511753681399849]], [[0.5461220049760893]], [[0.45933378675427855]]], "std": [[[0.19036822677788187]], [[0.210950551001968]], [[0.2538699239489364]]], "count": [101]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6314721301698472]], [[0.5981574231641914]], [[0.5606967322457488]]], "std": [[[0.19462867314718515]], [[0.18263099571988362]], [[0.18497676887062622]]], "count": [101]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.63605840731491]], [[0.6019200841377509]], [[0.563210471850695]]], "std": [[[0.1942959148647048]], [[0.18328440005108348]], [[0.18740875293872347]]], "count": [101]}, "annotation.human.task_description": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [475]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [475]}, "observation.state": {"min": [2.33056955207462, -3.725405287538421, 0.6999975463904078, 0.0, 0.0, 1.0, 0.00015273770259227604, 0.2069930396746158, -0.08515061744342312, 0.25815711109703243, -0.9999641180038452, -0.11779207736253738, -0.14673416316509247, 0.00013986021804157645, 0.020559535941521868, -0.04013289412028676], "max": [2.3314628917724285, -3.725140858577853, 0.7014463323421904, 0.0, 0.0, 1.0, 0.0002748474944382906, 0.47818492844759053, 0.311909701133128, 0.5804477308798235, 0.999975323677063, 0.04081694781780243, 0.1330374777317047, 0.12398302555084229, 0.04024502697166436, -0.020507023459242036], "mean": [2.3307250791794556, -3.725242735542712, 0.7002424456850019, 0.0, 0.0, 1.0, 0.00022112849064318365, 0.33878711826229513, 0.10182451258121684, 0.36712467796581877, -0.6471539161079808, -0.02743569896703488, 0.014607787890456261, 0.035291850481268115, 0.0375342601705889, -0.0377097563413497], "std": [0.0002077185224794645, 7.329280200160891e-05, 0.00035167138896327583, 0.0, 0.0, 0.0, 3.209662492599571e-05, 0.08404884466101699, 0.11355684244370622, 0.08494915252958143, 0.756823637704727, 0.020881228818839484, 0.06643227066561731, 0.03672732183680914, 0.003641107795715816, 0.0029923909888352894], "count": [475]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8946428571428571, -0.7071428571428573, -0.42321428571428565, -0.07071428571428573, -0.2571428571428572, -0.019285714285714288, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6267857142857143, 0.4714285714285715, 0.8946428571428571, 0.18642857142857147, 0.16928571428571426, 0.11785714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.009338345864661656, -0.013387218045112753, -0.027744360902255582, -0.0007353383458646615, 0.0018812030075188, 0.004768421052631578, -0.3389473684210526], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2546304264037193, 0.21673776806350625, 0.29245484133282235, 0.028759710215028947, 0.05575737933419788, 0.020571169369162416, 0.9408053366347577], "count": [475]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0736842080950737], "std": [0.26125627756118774], "count": [475]}, "next.done": {"min": [false], "max": [true], "mean": [0.002105263157894737], "std": [0.04583482327805735], "count": [475]}, "timestamp": {"min": [0.0], "max": [23.7], "mean": [11.85], "std": [6.8560192531818345], "count": [475]}, "frame_index": {"min": [0], "max": [474], "mean": [237.0], "std": [137.1203850636367], "count": [475]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [475]}, "index": {"min": [15925], "max": [16399], "mean": [16162.0], "std": [137.1203850636367], "count": [475]}, "task_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [475]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6914374365713082]], [[0.61339574656767]], [[0.5405698667040059]]], "std": [[[0.23306672465197847]], [[0.26338066989042963]], [[0.27400398069386606]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5751479917040058]], [[0.5161533526252298]], [[0.4680864694632736]]], "std": [[[0.26039027595225567]], [[0.2854508232330658]], [[0.28863878855160086]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5788150533040364]], [[0.5128516420850566]], [[0.4616557258157169]]], "std": [[[0.24099320767194923]], [[0.27306666089740556]], [[0.2804130925490444]]], "count": [100]}, "annotation.human.task_description": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [467]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [467]}, "observation.state": {"min": [2.1351735399428042, -1.7262210450961482, 0.6999986800799604, 0.0, 0.0, -0.7073007225990295, 0.7069127559661865, 0.12032393313932221, -0.14046199313627783, 0.23479650467468338, -0.9999628663063049, -0.12930238246917725, -0.1454114019870758, 3.534616553224623e-05, 0.02053017126070123, -0.03999480744093404], "max": [2.135486436742151, -1.7260345904615597, 0.7052521040055819, 0.0, 0.0, -0.7070895433425903, 0.7071239948272705, 0.5140387831053947, 0.3285955383200192, 0.6036231615336634, 0.9992321133613586, 0.185395747423172, 0.13015751540660858, 0.11030350625514984, 0.0413060977153518, -0.017182996824355246], "mean": [2.1354449264382493, -1.7262115530895896, 0.7031468133475746, 0.0, 0.0, -0.7071115798306925, 0.7071019349823161, 0.31261903987020667, 0.1166441904552142, 0.321025238153145, -0.5421212610391785, 0.03113331659687025, 0.011237014486151298, 0.045964442222323744, 0.0368072210349687, -0.033104972746227354], "std": [4.086520603610647e-05, 2.3054636476718426e-05, 0.0018297480234487245, 0.0, 0.0, 2.7902872792903663e-05, 2.7908636292948514e-05, 0.11081431897162929, 0.1438612540251969, 0.07972549691349184, 0.8281603699583238, 0.09834457869655513, 0.07658375822247128, 0.03885783910821018, 0.005869906298824645, 0.008208032464956615], "count": [467]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4714285714285715, -0.5571428571428572, -0.5, -0.07857142857142857, -0.16, -0.07571428571428573, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5321428571428571, 0.5321428571428571, 0.5642857142857142, 0.11857142857142858, 0.11, 0.07857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0521642704190884, 0.05286784949525849, -0.07223921688589781, -0.001979198531661058, 0.0030773936983787046, -0.0036647292750076467, -0.30620985010706636], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2094095389466706, 0.22207495255170123, 0.2492198168045433, 0.02123987696085142, 0.03476699646203103, 0.028562154967165666, 0.9519640369769234], "count": [467]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05353318899869919], "std": [0.22509416937828064], "count": [467]}, "next.done": {"min": [false], "max": [true], "mean": [0.0021413276231263384], "std": [0.04622491037456724], "count": [467]}, "timestamp": {"min": [0.0], "max": [23.3], "mean": [11.65], "std": [6.7405489390701705], "count": [467]}, "frame_index": {"min": [0], "max": [466], "mean": [233.0], "std": [134.8109787814034], "count": [467]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [467]}, "index": {"min": [16400], "max": [16866], "mean": [16633.0], "std": [134.8109787814034], "count": [467]}, "task_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [467]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.11764705882352941]], [[0.058823529411764705]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[0.9098039215686274]]], "mean": [[[0.694724261713963]], [[0.60065413052428]], [[0.4878554406259574]]], "std": [[[0.18766687075295319]], [[0.20283528417185254]], [[0.2174469789298891]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5580175739363129]], [[0.49500262929878985]], [[0.4430335023169424]]], "std": [[[0.20135506345774637]], [[0.24568330641111946]], [[0.2637619003461426]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.543141840916054]], [[0.4490814986883425]], [[0.39285147334080117]]], "std": [[[0.19117489105101396]], [[0.24353842531958522]], [[0.2655304224923606]]], "count": [100]}, "annotation.human.task_description": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [371]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [371]}, "observation.state": {"min": [5.267543492209495, -0.787960384672449, 0.6999991066516013, 0.0, 0.0, 0.706963300704956, 0.7070956230163574, 0.244903314335426, -0.11480105962424059, 0.24726052418454092, -0.9939950704574585, -0.02264237403869629, -0.15483516454696655, 0.0014785403618589044, 0.02058014708599805, -0.03996395667050094], "max": [5.267709411591807, -0.7877962484844032, 0.700247308531205, 0.0, 0.0, 0.7071178555488586, 0.7072502374649048, 0.4374596018089498, 0.2633199334079679, 0.5887477817333937, -0.9877870082855225, 0.049713969230651855, -0.09616420418024063, 0.04722658544778824, 0.04011969499877281, -0.020486413774201784], "mean": [5.267620289652058, -0.7878748232324695, 0.7000907926416667, 0.0, 0.0, 0.7070342532065358, 0.7071793018325642, 0.34617781942033987, 0.06698176063788938, 0.3188488688905607, -0.990711818968832, 0.023945142638008548, -0.12842440215564482, 0.026254135071340137, 0.034549128884799524, -0.03463136082344812], "std": [4.184302145548706e-05, 4.042917119552819e-05, 6.315657872857222e-05, 0.0, 0.0, 3.4177351383311264e-05, 3.420336275849828e-05, 0.05226997052558566, 0.1102829066527137, 0.07039180134069213, 0.0013052229476239426, 0.01729627763837305, 0.01223226401061919, 0.01685587432215877, 0.006321512911384115, 0.006209499767376235], "count": [371]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5928571428571429, -0.8785714285714286, -0.6, -0.04857142857142857, -0.005714285714285714, -0.06571428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5785714285714286, 0.45, 0.6928571428571428, -0.0, 0.06, 0.037142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.006160954948016941, -0.008779360800924143, -0.05042356565267613, -0.001617250673854448, 0.0015941470927993845, -0.0031266846361185986, -0.2776280323450135], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18083547009628156, 0.26222450845273526, 0.24501148007160406, 0.007418452388667917, 0.006495508344327496, 0.01261435778801432, 0.9606886465740281], "count": [371]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05121293663978577], "std": [0.22043177485466003], "count": [371]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026954177897574125], "std": [0.05184739639264513], "count": [371]}, "timestamp": {"min": [0.0], "max": [18.5], "mean": [9.25], "std": [5.354904294196116], "count": [371]}, "frame_index": {"min": [0], "max": [370], "mean": [185.0], "std": [107.09808588392231], "count": [371]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [371]}, "index": {"min": [16867], "max": [17237], "mean": [17052.0], "std": [107.09808588392231], "count": [371]}, "task_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [371]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.07058823529411765]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6216146946327359]], [[0.5461243351955041]], [[0.4654475947361366]]], "std": [[[0.2024726617169501]], [[0.19303466016267662]], [[0.20765848711119897]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.06666666666666667]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6284854311475567]], [[0.5290417139389936]], [[0.48776750572054994]]], "std": [[[0.1721116306297248]], [[0.22520224525608562]], [[0.2242864857877357]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.06666666666666667]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.641319496902765]], [[0.5418954491708793]], [[0.4980623797248392]]], "std": [[[0.16696114434504122]], [[0.22239490821689015]], [[0.22296365815287608]]], "count": [100]}, "annotation.human.task_description": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [374]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [374]}, "observation.state": {"min": [2.8588821737945924, -1.55191769172112, 0.6999986140491061, 0.0, 0.0, -0.7071593999862671, 0.7070541381835938, 0.16285521879899267, -0.051735743079440955, 0.24165392655554352, -0.9917955994606018, -0.027177199721336365, -0.2887214422225952, 0.0007843493367545307, 0.02051248182109598, -0.04021392720598571], "max": [2.8591348321767875, -1.5517896296402969, 0.7036491647972271, 0.0, 0.0, -0.7070385813713074, 0.7071749567985535, 0.49541731993358007, 0.3340474417304091, 0.6049680049859207, 0.9914959669113159, 0.20202794671058655, 0.1536208689212799, 0.14858946204185486, 0.04101198765332512, -0.020541935306730957], "mean": [2.859045185434693, -1.5519074396050347, 0.701349523282542, 0.0, 0.0, -0.7071052939496576, 0.7071082152147344, 0.34216964595361216, 0.13648434755142164, 0.3350425183737005, -0.9019119059019548, 0.07159529702070562, -0.1474292637471528, 0.03310106743396668, 0.03795018742190079, -0.03472441870372364], "std": [2.51591083328232e-05, 1.858828463877104e-05, 0.0011153555094153618, 0.0, 0.0, 1.3173558303053142e-05, 1.3173961363236869e-05, 0.08463001440225786, 0.10064005800867264, 0.08524318662463483, 0.3869034879348409, 0.057277537579850976, 0.06852750843034563, 0.030445255260816803, 0.003588498818500689, 0.006580145192954283], "count": [374]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.775, -0.6464285714285715, -0.4714285714285715, -0.03, -0.1928571428571429, -0.05, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.41071428571428575, 0.6071428571428572, 0.7642857142857143, 0.10857142857142858, 0.05285714285714286, 0.06571428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01569900687547745, 0.05548128342245992, -0.0635026737967914, 0.007272727272727275, -0.0057372039724980905, -0.008938120702826582, -0.32085561497326204], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2199784505386921, 0.24434319918799763, 0.292009408908018, 0.02517416243014472, 0.027332966151732047, 0.02185885270812339, 0.9471281192848902], "count": [374]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09090909361839294], "std": [0.28747978806495667], "count": [374]}, "next.done": {"min": [false], "max": [true], "mean": [0.00267379679144385], "std": [0.05163959335782878], "count": [374]}, "timestamp": {"min": [0.0], "max": [18.65], "mean": [9.325000000000001], "std": [5.398205720422296], "count": [374]}, "frame_index": {"min": [0], "max": [373], "mean": [186.5], "std": [107.96411440844592], "count": [374]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [374]}, "index": {"min": [17238], "max": [17611], "mean": [17424.5], "std": [107.96411440844592], "count": [374]}, "task_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [374]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.612626771814683]], [[0.5232850712794883]], [[0.44895276896158853]]], "std": [[[0.24462120216378475]], [[0.24529160165714997]], [[0.2352761708625101]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5112211955949372]], [[0.5389560253666897]], [[0.5278201629040288]]], "std": [[[0.2135337755511696]], [[0.16981028989479885]], [[0.16411327762491112]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5062114844228707]], [[0.5360511025821462]], [[0.5318020947026272]]], "std": [[[0.22131010873182877]], [[0.18157685119260372]], [[0.18161280316100512]]], "count": [100]}, "annotation.human.task_description": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [401]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [401]}, "observation.state": {"min": [1.4096882063245673, -0.8430357754506601, 0.6999989632130941, 0.0, 0.0, 0.7067962884902954, 0.7070817947387695, 0.17253060461995073, -0.0403862067199674, 0.2290607132032194, -0.9902453422546387, -0.44869041442871094, -0.24658221006393433, 0.00402528140693903, 0.008556428702024369, -0.03989575978664892], "max": [1.4101305388457281, -0.8427044578009193, 0.7033861050839741, 0.0, 0.0, 0.7071316838264465, 0.7074171900749207, 0.460635349748791, 0.5160389941389124, 0.6236043463215549, 0.9339221715927124, 0.49145400524139404, 0.26681676506996155, 0.20364509522914886, 0.04248111633736818, -0.0026082653653386133], "mean": [1.4097195541263419, -0.8427173608297627, 0.7011778835724656, 0.0, 0.0, 0.7071022584551291, 0.70711125771601, 0.3353123658828799, 0.18498408511897724, 0.3465388191052047, -0.7800140050878549, 0.08885322251076115, -0.13482764887244922, 0.06566448589471027, 0.03512285859752406, -0.030339257765242524], "std": [4.094904236609183e-05, 2.5625809757854614e-05, 0.0011532595937176252, 0.0, 0.0, 2.7069589936543224e-05, 2.707042769323009e-05, 0.07591769040958128, 0.15323061674557786, 0.09922153345089145, 0.5435343404761406, 0.2178922683645096, 0.12908503094057502, 0.04029115905171294, 0.006855430702154905, 0.010566599231831748], "count": [401]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.575, -0.6535714285714286, -0.5392857142857143, -0.055714285714285716, -0.18571428571428572, -0.13857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3392857142857143, 0.7214285714285715, 0.8, 0.16714285714285715, 0.10428571428571429, 0.022857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.002271107944424666, 0.11889918061987888, -0.06946918418240111, 0.011111506946918412, -0.0030210188813680106, -0.02938724617028857, -0.2169576059850374], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21256634483062717, 0.2613518237524996, 0.30536678087703034, 0.03475360929258991, 0.03481355962842399, 0.04045961101344739, 0.976181026861945], "count": [401]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04738154634833336], "std": [0.21245358884334564], "count": [401]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024937655860349127], "std": [0.04987531172069826], "count": [401]}, "timestamp": {"min": [0.0], "max": [20.0], "mean": [10.0], "std": [5.787918451395113], "count": [401]}, "frame_index": {"min": [0], "max": [400], "mean": [200.0], "std": [115.75836902790225], "count": [401]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [401]}, "index": {"min": [17612], "max": [18012], "mean": [17812.0], "std": [115.75836902790225], "count": [401]}, "task_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [401]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5733769232058058]], [[0.4855336902094822]], [[0.4023486459769455]]], "std": [[[0.2799696703759243]], [[0.22827539215620654]], [[0.19754477013816707]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.529974489698223]], [[0.47170317885454965]], [[0.4460893823960248]]], "std": [[[0.21700254366277355]], [[0.19542369659987752]], [[0.18181664962236052]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5094349526798024]], [[0.46079760083965227]], [[0.44254810707241876]]], "std": [[[0.21452104255679547]], [[0.1944629390434796]], [[0.18274403681095122]]], "count": [100]}, "annotation.human.task_description": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [279]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [279]}, "observation.state": {"min": [1.2659049092031336, -0.8176095227040053, 0.6999981126434356, 0.0, 0.0, 0.7071001529693604, 0.7063842415809631, 0.1771728785935478, -0.1735583732785888, 0.260053225276478, -0.9968752861022949, -0.23951876163482666, -0.3020428717136383, 2.1832334823557176e-05, 0.02058121201971739, -0.04030091038555777], "max": [1.2666790905172898, -0.8175312149507022, 0.7002938194468178, 0.0, 0.0, 0.7078285813331604, 0.7071134448051453, 0.4863691014149305, 0.3259286324339776, 0.6077253910757128, 0.9889001250267029, 0.2129133641719818, 0.18212753534317017, 0.15853050351142883, 0.03993031751405921, -0.020485349037917197], "mean": [1.2663910283579964, -0.8175708577065447, 0.7001023091541305, 0.0, 0.0, 0.7073837710965064, 0.7068295562139122, 0.3171897847556917, 0.0042827416695907315, 0.3658134560836572, -0.3268337841529573, -0.030307016492317228, -0.0366689683502293, 0.03600187844955881, 0.03569427784951528, -0.03685542528962387], "std": [0.00029019730133483226, 1.5706479621949183e-05, 0.00011394682355800994, 0.0, 0.0, 0.00028070981416957803, 0.0002809693462447634, 0.09693671858101098, 0.15783859985005996, 0.07940644079203059, 0.9192768070792015, 0.15329699738698854, 0.14186207072517412, 0.030426174330985406, 0.00526117697065808, 0.004151980755349893], "count": [279]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9535714285714286, -0.8678571428571429, -0.6500000000000001, -0.05714285714285715, -0.22714285714285715, -0.2142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8500000000000001, 1.0, 0.8500000000000001, 0.15857142857142856, 0.1242857142857143, 0.07, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.009690220174091085, 0.045199692780337905, -0.051523297491039365, 0.009406041986687149, -0.008540706605222733, -0.013338453661034306, -0.3333333333333333], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.29252265226941815, 0.387828035091293, 0.3101796669930872, 0.028173596189844934, 0.052101886910324816, 0.04520471965913434, 0.9428090415820632], "count": [279]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09318996220827103], "std": [0.29069843888282776], "count": [279]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035842293906810036], "std": [0.05976104659689271], "count": [279]}, "timestamp": {"min": [0.0], "max": [13.9], "mean": [6.95], "std": [4.0269922605670185], "count": [279]}, "frame_index": {"min": [0], "max": [278], "mean": [139.0], "std": [80.53984521134038], "count": [279]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [279]}, "index": {"min": [18013], "max": [18291], "mean": [18152.0], "std": [80.53984521134038], "count": [279]}, "task_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [279]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6388125077789906]], [[0.5639336314481848]], [[0.4890247335994945]]], "std": [[[0.19026571930209]], [[0.18266850796315925]], [[0.17250010323966347]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6324274692909391]], [[0.457858434938917]], [[0.4069736609365426]]], "std": [[[0.16560114386565952]], [[0.26055884840379523]], [[0.25889899905016367]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5911562523935355]], [[0.4149405954398361]], [[0.37211660407571234]]], "std": [[[0.19232596539472022]], [[0.2613614718907758]], [[0.25981758201333877]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [423]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [423]}, "observation.state": {"min": [3.862442476693291, -1.0564842405428576, 0.6999873380716272, 0.0, 0.0, 0.00014362383808474988, 0.9999998807907104, 0.23897315015095666, -0.3588241868861801, 0.23487598037645663, -0.9980000853538513, -0.1703348159790039, -0.22974371910095215, 0.00011395921319490299, 0.001068810458142841, -0.040360649335260956], "max": [3.86265971546056, -1.0561707649234005, 0.7008147299149265, 0.0, 0.0, 0.0004983738181181252, 1.0, 0.4709664026187159, 0.26916779956328485, 0.5876913571127312, 0.9980085492134094, 0.15669837594032288, 0.11239884793758392, 0.12504278123378754, 0.04000378808033775, -0.0008268004921836027], "mean": [3.8625914100137355, -1.0563487849142164, 0.7001704572350085, 0.0, 0.0, 0.0003181244175450163, 0.9999999921090778, 0.3141162733390235, -0.06701037040309377, 0.3252133049010286, -0.35251230339631967, -0.010493431337195366, -0.04985565883101979, 0.05314224121851523, 0.031970725826095295, -0.03124879922853943], "std": [4.548805158340179e-05, 8.336632208656304e-05, 0.000273076378503134, 0.0, 0.0, 8.563954396822121e-05, 2.9637890955821033e-08, 0.060191866094739484, 0.18802449219049033, 0.07856760008972985, 0.921185372285777, 0.09247975266882234, 0.10957936304706177, 0.034243969580663815, 0.009470558301946546, 0.010114178903199164], "count": [423]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8214285714285715, -1.0, -0.6500000000000001, -0.2571428571428571, -0.2057142857142857, -0.28, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8857142857142857, 0.6857142857142858, 0.5928571428571429, 0.18, 0.3914285714285714, 0.09428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02934819317798042, -0.06058763931104357, -0.05067544748395814, 0.0034380276933468454, 0.00788922661263088, -0.0059506923336710565, -0.19621749408983452], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23000830597560157, 0.3082667985586614, 0.24693963605237654, 0.0466111191369602, 0.08991688524385477, 0.046658623465599854, 0.9805603984523866], "count": [423]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07801418751478195], "std": [0.26819390058517456], "count": [423]}, "next.done": {"min": [false], "max": [true], "mean": [0.002364066193853428], "std": [0.048564157409395126], "count": [423]}, "timestamp": {"min": [0.0], "max": [21.1], "mean": [10.549999999999999], "std": [6.105462035478287], "count": [423]}, "frame_index": {"min": [0], "max": [422], "mean": [211.0], "std": [122.10924070956574], "count": [423]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [423]}, "index": {"min": [18292], "max": [18714], "mean": [18503.0], "std": [122.10924070956574], "count": [423]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [423]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6554374575147442]], [[0.605689167097503]], [[0.5566965517530255]]], "std": [[[0.21555346183203533]], [[0.23229594070944523]], [[0.272261848041165]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6826534411860447]], [[0.6196215485217524]], [[0.5358996360629212]]], "std": [[[0.17524412257697594]], [[0.1793504903658643]], [[0.20607360657588208]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6216633396522672]], [[0.5656366816501992]], [[0.4921619196873085]]], "std": [[[0.23802963733564628]], [[0.22960825494820086]], [[0.23448072144746726]]], "count": [100]}, "annotation.human.task_description": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [361]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [361]}, "observation.state": {"min": [0.8039409900718076, -1.257939129461322, 0.6999612733458924, 0.0, 0.0, -1.0, 1.3710260873267544e-06, 0.10078690024733417, -0.18644727892219848, 0.2667852816432362, -0.9988957643508911, -0.10188430547714233, -0.21871435642242432, 0.002587495371699333, 0.020553567752306323, -0.03995121280015861], "max": [0.8042016600736936, -1.2576889064663346, 0.7003736353376343, 0.0, 0.0, 1.0, 0.00032780985930003226, 0.2988096088183094, 0.409877197506306, 0.6017365677557882, -0.9665980339050293, -0.007416889071464539, -0.025589924305677414, 0.14158181846141815, 0.04004650467633775, -0.013972032892710973], "mean": [0.8040073257545605, -1.2578233558458451, 0.7000418858789473, 0.0, 0.0, 0.8614958448753463, 0.00016615124673301018, 0.223673633226557, 0.12770325793876613, 0.33572315708162986, -0.9929330890528714, -0.03521083657554973, -0.07594281042876996, 0.05474119298314867, 0.03521331741028376, -0.03387035793784853], "std": [5.5433191589140815e-05, 5.571555699607583e-05, 9.74513595185161e-05, 0.0, 0.0, 0.507764619939705, 6.775399245467885e-05, 0.0489787165551336, 0.17367467980881526, 0.07504808593036782, 0.006692181914412606, 0.0223421725844894, 0.04151036228337128, 0.04258043092736887, 0.005827300733951427, 0.007285212563319117], "count": [361]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9785714285714284, -0.6214285714285714, -0.08, -0.17142857142857143, -0.17714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8857142857142857, 0.9214285714285714, 0.7785714285714286, 0.12, 0.19142857142857142, 0.05714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.002592006331618527, 0.08678274633953302, -0.056489908982983755, -0.0011555203798971122, -0.0005065294815987312, -0.0034349030470914132, -0.3518005540166205], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.29043232111990186, 0.36929616843398577, 0.24712891008414092, 0.02590700891973255, 0.05764258216687658, 0.024900838208882337, 0.9360749810744851], "count": [361]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.058171745389699936], "std": [0.23406793177127838], "count": [361]}, "next.done": {"min": [false], "max": [true], "mean": [0.002770083102493075], "std": [0.05255863147094259], "count": [361]}, "timestamp": {"min": [0.0], "max": [18.0], "mean": [9.0], "std": [5.210566188045211], "count": [361]}, "frame_index": {"min": [0], "max": [360], "mean": [180.0], "std": [104.21132376090422], "count": [361]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [361]}, "index": {"min": [18715], "max": [19075], "mean": [18895.0], "std": [104.21132376090422], "count": [361]}, "task_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [361]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6913854788985907]], [[0.5601455359365426]], [[0.44569473565793505]]], "std": [[[0.19806619433788755]], [[0.18145291470881617]], [[0.1813182632561615]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5600392958697151]], [[0.48783509557387406]], [[0.44164953373927696]]], "std": [[[0.23722717221003178]], [[0.21472124447974675]], [[0.19979759677347558]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5536512361414292]], [[0.47406347416896444]], [[0.42424565872491576]]], "std": [[[0.2376420924508319]], [[0.22574397735963886]], [[0.21555501127179913]]], "count": [100]}, "annotation.human.task_description": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [437]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [437]}, "observation.state": {"min": [2.3812833597302436, -4.076136669871414, 0.6999991232667198, 0.0, 0.0, 0.7070432305335999, 0.7070716619491577, 0.24547382345122815, -0.3863610212270534, 0.23344763954091263, -0.9953906536102295, -0.08385656774044037, -0.1996249258518219, 0.0037310330662876368, 0.0015761643236682091, -0.04038963398157425], "max": [2.3813874493556035, -4.076092333260983, 0.7019852676694479, 0.0, 0.0, 0.7071418762207031, 0.7071703672409058, 0.7086735343300585, 0.009329317396689074, 0.5910782313898973, -0.9754502773284912, 0.09562405943870544, -0.024449419230222702, 0.08370058238506317, 0.04005510968981097, -0.001957202248127308], "mean": [2.3813240089737584, -4.076097590464177, 0.7006139139359069, 0.0, 0.0, 0.7071053473027402, 0.7071081682255393, 0.5076772068193094, -0.10680312989347501, 0.3282202285593069, -0.9872986702951742, 0.011736343020159811, -0.14061501010127145, 0.03621662673178114, 0.03505865622092245, -0.03683126670117795], "std": [1.009312163317641e-05, 6.66593224551781e-06, 0.0005364143937194379, 0.0, 0.0, 9.262420358227602e-06, 9.2636211372206e-06, 0.1168420123879437, 0.10714947083038472, 0.09157145298869201, 0.004203931126777214, 0.04530628318144051, 0.041272966197422434, 0.015671033341771643, 0.00769667946641164, 0.006914899756519326], "count": [437]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.625, -0.675, -0.55, -0.015714285714285715, -0.03857142857142857, -0.06857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.42500000000000004, 0.2571428571428572, 0.6071428571428572, 0.07142857142857142, 0.12, 0.055714285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04395227198430863, -0.06752206603465186, -0.08004249754821834, 0.0031513566525008165, 0.004593004249754824, -0.0020464203988231444, -0.2723112128146453], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22869238373922304, 0.16278694667319762, 0.2254331759379896, 0.011813053776714875, 0.02407915350648321, 0.01914084908708369, 0.962209230560286], "count": [437]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03661327064037323], "std": [0.18781037628650665], "count": [437]}, "next.done": {"min": [false], "max": [true], "mean": [0.002288329519450801], "std": [0.0477817231529087], "count": [437]}, "timestamp": {"min": [0.0], "max": [21.8], "mean": [10.9], "std": [6.307535176279241], "count": [437]}, "frame_index": {"min": [0], "max": [436], "mean": [218.0], "std": [126.15070352558483], "count": [437]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [437]}, "index": {"min": [19076], "max": [19512], "mean": [19294.0], "std": [126.15070352558483], "count": [437]}, "task_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [437]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.058823529411764705]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5754089838778811]], [[0.5101754874665274]], [[0.4267158001975956]]], "std": [[[0.16839882511217322]], [[0.19496830267048257]], [[0.20641815147272238]]], "count": [104]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6138629614138136]], [[0.6028334771525985]], [[0.5284171028194744]]], "std": [[[0.13960251529965315]], [[0.1529522260710306]], [[0.15899464272225214]]], "count": [104]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5860477556829898]], [[0.5858966476417414]], [[0.5250751932641858]]], "std": [[[0.16684135184592047]], [[0.17189951874690393]], [[0.17211397319364588]]], "count": [104]}, "annotation.human.task_description": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [492]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [492]}, "observation.state": {"min": [6.111197642438778, -1.3264641692304213, 0.699998096536224, 0.0, 0.0, -0.00019327443442307413, 1.0, 0.11054851824984713, -0.11339084409959121, 0.22191322130576718, -0.9945411086082458, -0.29687631130218506, -0.17016005516052246, 2.0212009985698387e-06, 0.015238748262066932, -0.04138239475176941], "max": [6.1113286555538515, -1.326279714979332, 0.7092378671094359, 0.0, 0.0, -3.8131656765472144e-05, 1.0, 0.5269754758473342, 0.31592751532843133, 0.600453463186481, 0.9959406852722168, 0.13367898762226105, 0.15354228019714355, 0.0657961294054985, 0.04000149237798277, 0.0003475871423899644], "mean": [6.111312858290555, -1.3263341001132107, 0.7037262004832017, 0.0, 0.0, -7.788988017178722e-05, 1.0, 0.287597538687864, -0.006807773129775386, 0.31966667034830276, -0.42977448655822414, -0.12830347264927577, -0.05402631321960247, 0.02137640149852143, 0.03358122826206455, -0.03515547119953724], "std": [2.9373114771019645e-05, 1.919482538582192e-05, 0.0025320052273751486, 0.0, 0.0, 1.604982674165721e-05, 0.0, 0.09852875471430075, 0.11148404455228239, 0.08751529198241835, 0.8744376043911827, 0.14576849545094991, 0.0958960279631417, 0.019253359018995237, 0.008435222032361758, 0.009281212455290478], "count": [492]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.932142857142857, -0.40714285714285714, -0.5071428571428571, -0.03, -0.10714285714285715, -0.05857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8178571428571428, 0.5, 0.5607142857142857, 0.04, 0.06857142857142857, 0.1357142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.008507549361207904, 0.04867160278745644, -0.1462108013937281, -0.0002613240418118466, -0.008011033681765386, 0.0016173054587688784, -0.2886178861788618], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2779059773961768, 0.17012401452139816, 0.2529528497839916, 0.006687437544500082, 0.02352512703827419, 0.033691522451360485, 0.9574443669360875], "count": [492]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03252032399177551], "std": [0.17737743258476257], "count": [492]}, "next.done": {"min": [false], "max": [true], "mean": [0.0020325203252032522], "std": [0.04503764188243971], "count": [492]}, "timestamp": {"min": [0.0], "max": [24.55], "mean": [12.275], "std": [7.101393642565286], "count": [492]}, "frame_index": {"min": [0], "max": [491], "mean": [245.5], "std": [142.02787285130574], "count": [492]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [492]}, "index": {"min": [19513], "max": [20004], "mean": [19758.5], "std": [142.02787285130574], "count": [492]}, "task_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [492]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10588235294117647]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6419775001675475]], [[0.5645671763700597]], [[0.5081740513221891]]], "std": [[[0.20108279399552698]], [[0.26558949287447164]], [[0.32931084676143246]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6407205954159008]], [[0.6332354161879596]], [[0.6321932552562041]]], "std": [[[0.24952077998754052]], [[0.2576635519968988]], [[0.2636111711533091]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.08627450980392157]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6645031474992341]], [[0.6545668825635723]], [[0.6518954934512868]]], "std": [[[0.25055987584031264]], [[0.26137014317862045]], [[0.2697426562774891]]], "count": [100]}, "annotation.human.task_description": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [190]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [190]}, "observation.state": {"min": [1.2231606937751847, -5.176755201054753, 0.6999921128322342, 0.0, 0.0, -8.92101670615375e-05, 0.9999997615814209, 0.2046131437849219, -0.4480653921461579, 0.23347581197323963, -0.9999095797538757, -0.233873188495636, -0.14097072184085846, 0.0005375247565098107, 0.020263954082007984, -0.03995940782417723], "max": [1.2233631829961313, -5.176015418196371, 0.7004750430513913, 0.0, 0.0, 0.0007303715101443231, 1.0, 0.43771286427649025, 0.0571222267280902, 0.5836628055892406, 0.9993348121643066, 0.2198505997657776, 0.24873416125774384, 0.07027075439691544, 0.03981609766545504, -0.02052856720937889], "mean": [1.2232962732338861, -5.176525213738896, 0.7001261596442432, 0.0, 0.0, 0.00019824603754686694, 0.9999999636097958, 0.3155307606021644, -0.12711738556288216, 0.3187526357118457, -0.10440805993582072, -0.03755789711385181, -1.001027412712574e-05, 0.026470957303382947, 0.03451816302042951, -0.03614174273056694], "std": [6.00128813003419e-05, 0.00022276936014554242, 0.0001731358133083929, 0.0, 0.0, 0.00023594063937950298, 7.353373740338581e-08, 0.07852936243058224, 0.16470826640737607, 0.08824171797485703, 0.9812796986553073, 0.11393783077911086, 0.10382624205123439, 0.017778723683363636, 0.006021704354297616, 0.004025865745349879], "count": [190]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8642857142857142, -0.9928571428571428, -0.7964285714285714, -0.2357142857142857, -0.21714285714285717, -0.13, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.22714285714285715, 0.25, 0.11571428571428573, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05332706766917296, -0.14646616541353386, -0.1057330827067669, -0.006699248120300754, 0.030300751879699245, -0.01989473684210526, -0.4105263157894737], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.37891849165321906, 0.4243618431033517, 0.4087848924080563, 0.06413086437338777, 0.07703024214985006, 0.05270930029414049, 0.9118487506403248], "count": [190]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09473684430122375], "std": [0.29285115003585815], "count": [190]}, "next.done": {"min": [false], "max": [true], "mean": [0.005263157894736842], "std": [0.072356458341408], "count": [190]}, "timestamp": {"min": [0.0], "max": [9.45], "mean": [4.725], "std": [2.742375794817333], "count": [190]}, "frame_index": {"min": [0], "max": [189], "mean": [94.5], "std": [54.847515896346664], "count": [190]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [190]}, "index": {"min": [20005], "max": [20194], "mean": [20099.5], "std": [54.847515896346664], "count": [190]}, "task_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [190]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09803921568627451]], [[0.03529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4988822542078355]], [[0.39877713670917586]], [[0.32218272130629594]]], "std": [[[0.1388517559931497]], [[0.16316492734078147]], [[0.1849992644388718]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.592505163454542]], [[0.5435171796013327]], [[0.45723093189912684]]], "std": [[[0.2251260459442923]], [[0.18861781209238154]], [[0.17564007051857047]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.07450980392156863]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5598432455623851]], [[0.5221258407293582]], [[0.4482619000603171]]], "std": [[[0.20624500611998367]], [[0.18168235603308128]], [[0.17677697337864154]]], "count": [100]}, "annotation.human.task_description": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [273]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [273]}, "observation.state": {"min": [3.7825213976556036, -3.4427557656028274, 0.6999975324671637, 0.0, 0.0, -0.00013152224710211158, 1.0, 0.1872777123882754, -0.008550353300738056, 0.23978766930503903, -0.9994953274726868, -0.04945646971464157, -0.14546416699886322, 0.0005116878310218453, 0.0010842129254582582, -0.03987175734846215], "max": [3.782664915973528, -3.442611835653174, 0.7001520764952397, 0.0, 0.0, 7.987098069861531e-05, 1.0, 0.43151937414553165, 0.19996303813207916, 0.6066058746792465, -0.9886437654495239, 0.09783297032117844, 0.05945197492837906, 0.08735430985689163, 0.04001538468149822, -0.0009751648652282272], "mean": [3.7825950028939315, -3.442690778660015, 0.7000709451304835, 0.0, 0.0, -3.677813853865799e-05, 1.0, 0.2606630717471575, 0.09203861313905774, 0.3150562695659854, -0.997011138624324, 0.031093799082678317, 0.0070492004566410586, 0.0380789018312858, 0.032565211323273294, -0.03230296496047333], "std": [4.659411167724405e-05, 2.7829942169893146e-05, 5.397406694750985e-05, 0.0, 0.0, 3.966183786189654e-05, 0.0, 0.06580228902741797, 0.059581442496214845, 0.08675605389455215, 0.0021627368960805337, 0.0389976298179923, 0.03805881676966152, 0.02298485521890438, 0.009334282224497361, 0.009689048196244821], "count": [273]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7142857142857143, -0.8214285714285715, -0.6857142857142858, -0.09428571428571429, -0.20285714285714287, -0.08857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8500000000000001, 0.6500000000000001, 0.6, 0.12857142857142856, 0.2285714285714286, 0.08, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05143903715332287, 0.05295656724228154, -0.09735740450026158, 0.00039769754055468296, 0.011062271062271064, -0.008027210884353743, -0.21611721611721613], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25905804587418646, 0.19670238140268068, 0.25007348613447755, 0.023913771126887872, 0.05994503296159311, 0.026429438507051605, 0.9763674251518966], "count": [273]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06593406945466995], "std": [0.24816679954528809], "count": [273]}, "next.done": {"min": [false], "max": [true], "mean": [0.003663003663003663], "std": [0.060411804038354], "count": [273]}, "timestamp": {"min": [0.0], "max": [13.6], "mean": [6.800000000000001], "std": [3.9403891516786342], "count": [273]}, "frame_index": {"min": [0], "max": [272], "mean": [136.0], "std": [78.80778303357269], "count": [273]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [273]}, "index": {"min": [20195], "max": [20467], "mean": [20331.0], "std": [78.80778303357269], "count": [273]}, "task_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [273]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6654510539933747]], [[0.5907457329245175]], [[0.502002935072955]]], "std": [[[0.18093693164151892]], [[0.1651369028173124]], [[0.19301231814259992]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5550192308612898]], [[0.452965778425628]], [[0.39346118762446386]]], "std": [[[0.1802611749907603]], [[0.24156797898106364]], [[0.26620561155457945]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5720226027544807]], [[0.4566568112840839]], [[0.39151401594573376]]], "std": [[[0.16107238431977755]], [[0.2422362549794486]], [[0.2729782832258612]]], "count": [100]}, "annotation.human.task_description": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [297]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [297]}, "observation.state": {"min": [2.4913373770486595, -2.1719820110510377, 0.6999960836594773, 0.0, 0.0, -0.0003995195438619703, 0.9999997615814209, 0.2059033798404677, -0.24022974639927996, 0.2340464874979955, -0.9947999715805054, -0.08432692289352417, -0.16288983821868896, 0.0012448965571820736, 0.020523385879732712, -0.040234223912384355], "max": [2.4918531756126048, -2.1710304121142663, 0.701092695270462, 0.0, 0.0, 0.0007861354388296604, 1.0, 0.40390075569115647, 0.30574180025250675, 0.6053810108359611, 0.9974996447563171, 0.08740091323852539, 0.1366865187883377, 0.12090787291526794, 0.040495914504347856, -0.02054317340552551], "mean": [2.4915611024950906, -2.1715120040919933, 0.7005579854351396, 0.0, 0.0, 6.70648933672518e-05, 0.9999999438070689, 0.32237831782237236, -0.0005760292787944585, 0.3162437219694243, 0.15112099322405728, -0.02114649365345637, -0.022550015930973798, 0.046688250444754206, 0.03690169791117333, -0.03694659955233112], "std": [0.00019229103657907365, 0.00030324246156899554, 0.0004107636984213724, 0.0, 0.0, 0.0003843169962214125, 9.78259747896296e-08, 0.05387172071084444, 0.1484903294102072, 0.0811592150585395, 0.9810641394769525, 0.04961170208302022, 0.08962004737689853, 0.032358297230696914, 0.004105852787097893, 0.005059366348637831], "count": [297]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.42500000000000004, -0.9750000000000001, -0.6892857142857142, -0.17285714285714285, -0.16428571428571428, -0.09857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6214285714285714, 1.0, 0.775, 0.08285714285714285, 0.20714285714285718, 0.13714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0008177008177008024, -0.06907166907166905, -0.0992424242424243, 0.002554112554112552, 0.0004906204906204894, -0.00689273689273689, -0.43434343434343436], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19277923521446724, 0.3779408752405183, 0.32159137801140497, 0.03518556557790431, 0.04749398944254119, 0.030213616300080827, 0.9007473458427449], "count": [297]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05387205258011818], "std": [0.22576504945755005], "count": [297]}, "next.done": {"min": [false], "max": [true], "mean": [0.003367003367003367], "std": [0.05792811627638133], "count": [297]}, "timestamp": {"min": [0.0], "max": [14.8], "mean": [7.4], "std": [4.286801449410349], "count": [297]}, "frame_index": {"min": [0], "max": [296], "mean": [148.0], "std": [85.73602898820698], "count": [297]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [297]}, "index": {"min": [20468], "max": [20764], "mean": [20616.0], "std": [85.73602898820698], "count": [297]}, "task_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [297]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6419221957337623]], [[0.5442771815879672]], [[0.4563420170802696]]], "std": [[[0.16647883903719693]], [[0.17470186573048166]], [[0.18148991708564363]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6435573921951593]], [[0.5760768121457567]], [[0.5325005199955959]]], "std": [[[0.17164883244037965]], [[0.2028973164113148]], [[0.19989848697110033]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.10196078431372549]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.649557788923675]], [[0.5775161503810509]], [[0.52988646922392]]], "std": [[[0.16755780885590538]], [[0.2048501194374963]], [[0.2062057785086562]]], "count": [100]}, "annotation.human.task_description": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [450]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [450]}, "observation.state": {"min": [1.662147834724113, -0.7583578880380253, 0.6999991924763778, 0.0, 0.0, 0.7070248126983643, 0.707066535949707, 0.20334978546485327, -0.16652467947051175, 0.22782705784725088, -0.9987781047821045, -0.29437530040740967, -0.12754595279693604, 3.8993814087007195e-05, 0.00625988824999578, -0.039943254121870074], "max": [1.6623263623541122, -0.7582817932165419, 0.7033598991638608, 0.0, 0.0, 0.707146942615509, 0.7071888446807861, 0.3319942034916904, 0.3843598095091214, 0.5927907616149274, 0.9725266695022583, 0.3954556882381439, 0.09533099085092545, 0.0813259556889534, 0.040005284700184676, -0.0011754470613546627], "mean": [1.6622184380476077, -0.7582886660181727, 0.701118470552733, 0.0, 0.0, 0.7071022333039177, 0.7071112849977281, 0.26311815484611134, 0.0549787115637221, 0.32077829462089763, -0.8559760597017076, 0.021729962420132424, -0.06644218947738409, 0.026129980647149043, 0.030298657472134526, -0.02793265660321812], "std": [2.2870639032246494e-05, 1.1261046666938422e-05, 0.0010831195227994652, 0.0, 0.0, 1.6877212011075682e-05, 1.6892070610013208e-05, 0.0366075038905146, 0.1347864631696717, 0.08405234643924009, 0.451246441791822, 0.23630343323809197, 0.04463057310669351, 0.016760134003690533, 0.013012346444157412, 0.015112123488132125], "count": [450]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.27142857142857146, -0.5464285714285715, -0.5071428571428571, -0.09857142857142857, -0.07714285714285714, -0.2285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.25357142857142856, 0.6, 0.5428571428571429, 0.1, 0.11714285714285716, 0.37285714285714283, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0024285714285714297, 0.06649206349206348, -0.07576190476190482, 0.0004412698412698412, 0.0004793650793650817, 0.007917460317460307, -0.3244444444444444], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.09881065977545524, 0.21104576145726175, 0.20769722752602018, 0.022303825002123932, 0.022504656218754266, 0.09081394844709878, 0.9459047533811944], "count": [450]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04444444552063942], "std": [0.20608040690422058], "count": [450]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022222222222222222], "std": [0.04708804466759354], "count": [450]}, "timestamp": {"min": [0.0], "max": [22.45], "mean": [11.225], "std": [6.495174490856013], "count": [450]}, "frame_index": {"min": [0], "max": [449], "mean": [224.5], "std": [129.90348981712026], "count": [450]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [450]}, "index": {"min": [20765], "max": [21214], "mean": [20989.5], "std": [129.90348981712026], "count": [450]}, "task_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [450]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7074705625047871]], [[0.6328065227433747]], [[0.5762407292384727]]], "std": [[[0.2002830572954116]], [[0.2361282772403668]], [[0.2718224037953112]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6326212307799096]], [[0.6171188815247779]], [[0.6019800666360294]]], "std": [[[0.1935436518961876]], [[0.19769845947153225]], [[0.20229763930476663]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.06274509803921569]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.631363645067402]], [[0.6186077581667433]], [[0.6061826447131587]]], "std": [[[0.1945340576602324]], [[0.19803315275453812]], [[0.20052134583412562]]], "count": [100]}, "annotation.human.task_description": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [378]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [378]}, "observation.state": {"min": [5.408828843011357, -0.876004417703401, 0.699996796541937, 0.0, 0.0, 0.7070479989051819, 0.7064140439033508, 0.1252191884906576, -0.15728599518613695, 0.24864744262871674, -0.9984646439552307, -0.09146049618721008, -0.2206067144870758, 0.0010184900602325797, 0.02054858584914697, -0.0404754538897563], "max": [5.410069458292623, -0.8754226338467346, 0.7016065188809519, 0.0, 0.0, 0.7077988982200623, 0.707165539264679, 0.36615455777431305, 0.2890374440447978, 0.6060989625964294, 0.9974744915962219, 0.05928678810596466, 0.1446731984615326, 0.25349563360214233, 0.04000553579057037, -0.02051797476357562], "mean": [5.409457907787217, -0.8756928993429527, 0.7008630134823606, 0.0, 0.0, 0.7074288765274027, 0.706784430950407, 0.2174068573633209, -0.027074640553185796, 0.33158248157279924, -0.8860317702015872, -0.04187644260230834, -0.08396613935197127, 0.07584945395497714, 0.03493118602195248, -0.03740537936613187], "std": [0.0004441784296752786, 0.00021987045829327415, 0.0006201561678269367, 0.0, 0.0, 0.0002655918214292616, 0.00026578564472269314, 0.060758431773175046, 0.13423785749886466, 0.08128544282697373, 0.4324991793402457, 0.027453226687788494, 0.0799750909164132, 0.0786471921394918, 0.005686458967539944, 0.0038354037976100165], "count": [378]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6535714285714286, -0.6607142857142857, -0.7107142857142857, -0.09857142857142857, -0.13714285714285715, -0.08571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8535714285714285, 1.0, 0.8749999999999999, 0.13857142857142857, 0.13285714285714287, 0.06571428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.011744142101284941, 0.07655895691609975, -0.08429705215419483, 0.003896447467876042, -0.0054421768707483015, -0.0007558578987150422, -0.3968253968253968], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25862246800540833, 0.2968670190528958, 0.30255032998068315, 0.03588146313530916, 0.04293620106149526, 0.015706756234709466, 0.917894113955615], "count": [378]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.042328041046857834], "std": [0.20133647322654724], "count": [378]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026455026455026454], "std": [0.051366369944305816], "count": [378]}, "timestamp": {"min": [0.0], "max": [18.85], "mean": [9.424999999999999], "std": [5.455940951537752], "count": [378]}, "frame_index": {"min": [0], "max": [377], "mean": [188.5], "std": [109.11881903075503], "count": [378]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [378]}, "index": {"min": [21215], "max": [21592], "mean": [21403.5], "std": [109.11881903075503], "count": [378]}, "task_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [378]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[0.9921568627450981]]], "mean": [[[0.6441019185384115]], [[0.5972960821413527]], [[0.5446658187567018]]], "std": [[[0.2248407114900697]], [[0.26451136553892424]], [[0.2894518193907888]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5214769275141696]], [[0.5109455572390089]], [[0.49741241873946845]]], "std": [[[0.23498082533334175]], [[0.23814764462425947]], [[0.23709282959953906]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.08235294117647059]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5703278485466452]], [[0.5541513235054764]], [[0.5360295595655254]]], "std": [[[0.219400504033469]], [[0.22581152947516495]], [[0.23065295089090906]]], "count": [100]}, "annotation.human.task_description": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [206]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [206]}, "observation.state": {"min": [5.964492737638883, -4.5321458182211884, 0.6999970303466367, 0.0, 0.0, -0.00043983678915537894, 0.9999998807907104, 0.23231902613181177, -0.39917061940796117, 0.23040731563185557, -0.9945245981216431, -0.3572511672973633, -0.3195735216140747, 0.0015519179869443178, 0.015125272620437478, -0.03998867555640528], "max": [5.96487846517822, -4.531345632256317, 0.7006255717764014, 0.0, 0.0, 0.0005116508691571653, 1.0, 0.40901233566264317, 0.17127453263030645, 0.5897975103367767, 0.9865524172782898, 0.3600406050682068, 0.24286925792694092, 0.11590486019849777, 0.03990499249219994, -0.017087007349814446], "mean": [5.964704617000179, -4.531869639705259, 0.7002419835944372, 0.0, 0.0, -9.090665344488513e-05, 0.9999999907410261, 0.31788231039536585, -0.0567324404500686, 0.32310855694155605, -0.43889751278080985, -0.05998098980454565, -0.04769878487274485, 0.05607391665554018, 0.03220713887441309, -0.03439104753786031], "std": [0.00011086665704332873, 0.00020427651677786988, 0.00017420457001039993, 0.0, 0.0, 0.00023448750890564814, 3.1906537065437084e-08, 0.04874937284061633, 0.16549546552425445, 0.08497807520774467, 0.8743661535226648, 0.12818673461837246, 0.1266148532432078, 0.037046760905691124, 0.008634665666559647, 0.007280723670804295], "count": [206]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7821428571428571, -0.9785714285714284, -0.8250000000000001, -0.13, -0.5, -0.2185714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4714285714285715, 0.8250000000000001, 0.8964285714285715, 0.11285714285714285, 0.03571428571428571, 0.037142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0023751733703189946, -0.1518897364771151, -0.07479195561719836, 0.0026213592233009743, -0.017662968099861304, -0.030069348127600565, -0.33980582524271846], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21373280035673145, 0.423136285675046, 0.4253239843799136, 0.03979942633669345, 0.08108766840924657, 0.057707638430443624, 0.9404956146262026], "count": [206]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10194174945354462], "std": [0.30257171392440796], "count": [206]}, "next.done": {"min": [false], "max": [true], "mean": [0.0048543689320388345], "std": [0.06950398574405997], "count": [206]}, "timestamp": {"min": [0.0], "max": [10.25], "mean": [5.125], "std": [2.9733188527300602], "count": [206]}, "frame_index": {"min": [0], "max": [205], "mean": [102.5], "std": [59.466377054601196], "count": [206]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [206]}, "index": {"min": [21593], "max": [21798], "mean": [21695.5], "std": [59.466377054601196], "count": [206]}, "task_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [206]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6846178768382354]], [[0.6132626187193628]], [[0.5017712474149816]]], "std": [[[0.19607503577727667]], [[0.1971953269525024]], [[0.22285452444866605]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.08627450980392157]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5011168817258348]], [[0.5335651310939415]], [[0.5220350174249387]]], "std": [[[0.21877138748409097]], [[0.1751528974656969]], [[0.16917414808221087]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.09019607843137255]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5084778220980776]], [[0.5515799524643842]], [[0.5461919011134727]]], "std": [[[0.23084094480873407]], [[0.16874450511458738]], [[0.15018035713185535]]], "count": [100]}, "annotation.human.task_description": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [374]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [374]}, "observation.state": {"min": [1.5694687692747298, -0.7945549641635682, 0.7000000230398224, 0.0, 0.0, 0.7069782018661499, 0.7071252465248108, 0.2073949877784813, -0.25615881354018843, 0.23086858253089781, -0.9936445355415344, -0.3291780650615692, -0.2171194851398468, 3.469011062406935e-06, 0.01205264951118306, -0.04067896834777811], "max": [1.5696542706907277, -0.7944475845157897, 0.7040416461321485, 0.0, 0.0, 0.70708829164505, 0.7072353363037109, 0.471711904526286, 0.34418325171339115, 0.5898220731175567, 0.9892838001251221, 0.3257451355457306, 0.1324060708284378, 0.049468137323856354, 0.03995268357677021, -0.014121010516544795], "mean": [1.5695248240758164, -0.794459569453631, 0.701578647566079, 0.0, 0.0, 0.7070547292895496, 0.7071587851340758, 0.31910679096139727, 0.05536334546200678, 0.32204887049224157, -0.22189952377329536, -0.04925794867589512, -0.009188058864223188, 0.018272155197638813, 0.030507284482406916, -0.03455006876301221], "std": [1.8184949369427833e-05, 1.564197893630238e-05, 0.0012342345761192604, 0.0, 0.0, 8.225504744640718e-06, 8.231756084743823e-06, 0.0835312932549041, 0.16544479999661715, 0.08061693388059522, 0.9432613398122234, 0.220675679373361, 0.09594166792148563, 0.01647551291477276, 0.010913824607244117, 0.009250411234404718], "count": [374]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.3857142857142857, -0.6392857142857143, -0.5428571428571429, -0.055714285714285716, -0.20285714285714287, -0.06428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.31785714285714284, 0.632142857142857, 0.6357142857142857, 0.06857142857142857, 0.08714285714285715, 0.20428571428571432, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02765469824293354, -0.05345683728036667, -0.07589763177998472, 6.875477463712715e-05, -0.0036096256684492022, 0.00110771581359817, -0.23529411764705882], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1834969438247402, 0.274965125263594, 0.2838399640202368, 0.013349607260998929, 0.04247417589969449, 0.053919957861424575, 0.9719242142269628], "count": [374]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07754010707139969], "std": [0.26744651794433594], "count": [374]}, "next.done": {"min": [false], "max": [true], "mean": [0.00267379679144385], "std": [0.05163959335782878], "count": [374]}, "timestamp": {"min": [0.0], "max": [18.65], "mean": [9.325000000000001], "std": [5.398205720422296], "count": [374]}, "frame_index": {"min": [0], "max": [373], "mean": [186.5], "std": [107.96411440844592], "count": [374]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [374]}, "index": {"min": [21799], "max": [22172], "mean": [21985.5], "std": [107.96411440844592], "count": [374]}, "task_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [374]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6457971550436581]], [[0.5433159951602712]], [[0.48053599937289365]]], "std": [[[0.24465648976727555]], [[0.28886733709015805]], [[0.3254871671702575]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.00392156862745098]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6522280632467831]], [[0.6145306049421722]], [[0.5965016078574985]]], "std": [[[0.2105826244223887]], [[0.2449930901361884]], [[0.2658879920367799]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6401476081399357]], [[0.5943908428117342]], [[0.5703466695149739]]], "std": [[[0.21729050256007473]], [[0.25178611642457904]], [[0.2743070205940631]]], "count": [100]}, "annotation.human.task_description": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [200]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [200]}, "observation.state": {"min": [1.721835320444124, -3.7361778087311244, 0.7000000255220735, 0.0, 0.0, -9.855149983195588e-06, 0.9999998807907104, 0.24548016254503136, -0.31071325009917317, 0.23798878114319655, -0.9964295029640198, -0.0981135219335556, -0.11148043721914291, 0.0019726247992366552, 0.015122564198572752, -0.040112016168393036], "max": [1.7221288788274782, -3.7356177737416076, 0.7006185701096777, 0.0, 0.0, 0.0006147455424070358, 1.0, 0.3855828926487008, 0.12005903581907473, 0.5844861000959052, 0.9994952082633972, 0.09637407213449478, 0.06624142825603485, 0.05058671534061432, 0.03993388866677707, -0.020520691057700723], "mean": [1.7220358287758553, -3.7359878945348597, 0.7001861552313267, 0.0, 0.0, 0.00020572943766879347, 0.9999999725818634, 0.3165347285139495, -0.057284365849421114, 0.3247299953593947, 0.18049701064825058, 0.006935774385929108, -0.004030777780808421, 0.023922168212011458, 0.03267106357445465, -0.03472212511665991], "std": [9.858955535392921e-05, 0.0001964923475405317, 0.00021129875543401526, 0.0, 0.0, 0.00020735746902846827, 5.016714432835771e-08, 0.047832565153160464, 0.14659889951260607, 0.0976931378798746, 0.9803732375333339, 0.06424495700475585, 0.03733585346320537, 0.01145151177796909, 0.008495517971924653, 0.006660190818495209], "count": [200]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5321428571428571, -0.9357142857142857, -0.6357142857142857, -0.1142857142857143, -0.12142857142857144, -0.16857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6714285714285714, 0.55, 0.8607142857142859, 0.041428571428571426, 0.1242857142857143, 0.14857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04398214285714284, -0.10587500000000002, -0.09964285714285723, -0.0037499999999999977, 0.00538571428571428, -0.00542857142857143, -0.4], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15926111977805257, 0.3344256989983131, 0.32877439383385115, 0.021797976642667666, 0.03875714812279468, 0.049180010872180185, 0.9165151389911687], "count": [200]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10000000149011612], "std": [0.29999998211860657], "count": [200]}, "next.done": {"min": [false], "max": [true], "mean": [0.005], "std": [0.07053367989832943], "count": [200]}, "timestamp": {"min": [0.0], "max": [9.95], "mean": [4.975], "std": [2.8867152613307745], "count": [200]}, "frame_index": {"min": [0], "max": [199], "mean": [99.5], "std": [57.73430522661548], "count": [200]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [200]}, "index": {"min": [22173], "max": [22372], "mean": [22272.5], "std": [57.73430522661548], "count": [200]}, "task_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [200]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3358990957222733]], [[0.3022521960688573]], [[0.2767880919213388]]], "std": [[[0.17837306006240594]], [[0.1615577913225903]], [[0.1611804459384871]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5562883719649969]], [[0.5241514784869026]], [[0.5021409756529566]]], "std": [[[0.24371544723930744]], [[0.26509317135724164]], [[0.2863098357721501]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.050980392156862744]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5650449679505591]], [[0.5430232232785692]], [[0.5278021252202053]]], "std": [[[0.24056069316970147]], [[0.2548355963100283]], [[0.2702979659630541]]], "count": [100]}, "annotation.human.task_description": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [272]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [272]}, "observation.state": {"min": [0.4413593053258492, -4.549772617586549, 0.6999948302213845, 0.0, 0.0, -0.7072039842605591, 0.7070096731185913, 0.18337286624151172, -0.16053058927611646, 0.24631142471460232, -0.9987791776657104, -0.050491273403167725, -0.3428933620452881, 0.00025929114781320095, 0.020519296681188737, -0.039972927451928424], "max": [0.44165885118972403, -4.549700142172225, 0.7002106841013103, 0.0, 0.0, -0.706913948059082, 0.7072994709014893, 0.3851920510164213, 0.18574810916797407, 0.6060377392946662, 0.9989562630653381, 0.16990280151367188, 0.20858511328697205, 0.10231009125709534, 0.0404376403413426, -0.020547264017546564], "mean": [0.4414869639041017, -4.549747127189275, 0.7001144304397691, 0.0, 0.0, -0.7070777394315776, 0.7071357844945263, 0.28203322283537924, 0.009066767288053348, 0.34174799116023513, -0.2765505745568696, 0.05837380260174327, -0.03689063341078187, 0.02722223261726493, 0.03511086937996885, -0.03610152172570018], "std": [6.095900598461759e-05, 1.4910692072082024e-05, 6.30077095097886e-05, 0.0, 0.0, 5.750306346115843e-05, 5.7513605842778475e-05, 0.06495032397251015, 0.08728030048957416, 0.07940201654867239, 0.9440665704356053, 0.059408205898449994, 0.15106174494281577, 0.01999098232882855, 0.006336078363926492, 0.005440865627622156], "count": [272]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.55, -0.9464285714285714, -0.8785714285714286, -0.17285714285714285, -0.2757142857142857, -0.16857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6678571428571428, 1.0, 0.9357142857142857, 0.15285714285714286, 0.22428571428571428, 0.13857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.012316176470588247, 0.03566176470588236, -0.09973739495798328, -0.00013655462184873689, -0.00742121848739496, -0.015646008403361344, -0.47058823529411764], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2245680877881978, 0.36015848302629927, 0.4211616829454562, 0.046286589198492135, 0.08451607677151744, 0.052005717742808794, 0.8823529411764727], "count": [272]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05882352963089943], "std": [0.2352941334247589], "count": [272]}, "next.done": {"min": [false], "max": [true], "mean": [0.003676470588235294], "std": [0.06052234423953797], "count": [272]}, "timestamp": {"min": [0.0], "max": [13.55], "mean": [6.7749999999999995], "std": [3.9259552977587506], "count": [272]}, "frame_index": {"min": [0], "max": [271], "mean": [135.5], "std": [78.51910595517501], "count": [272]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [272]}, "index": {"min": [22373], "max": [22644], "mean": [22508.5], "std": [78.51910595517501], "count": [272]}, "task_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [272]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.050980392156862744]], [[0.00784313725490196]]], "max": [[[0.9215686274509803]], [[0.9215686274509803]], [[0.9215686274509803]]], "mean": [[[0.5273563794902727]], [[0.47911652149873624]], [[0.41802461691463694]]], "std": [[[0.14961949565877888]], [[0.15200810113502672]], [[0.18435670719648384]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.09411764705882353]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4706551429898131]], [[0.4860508285223269]], [[0.4384910936542586]]], "std": [[[0.1802974390621501]], [[0.16257838654135057]], [[0.20201381813117197]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.10196078431372549]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4840570277793735]], [[0.49970829623353247]], [[0.4488158431707644]]], "std": [[[0.18661147749189747]], [[0.1673237525051785]], [[0.20711784727551735]]], "count": [100]}, "annotation.human.task_description": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [435]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [435]}, "observation.state": {"min": [2.767717349541969, -2.040950007635069, 0.6999970485790378, 0.0, 0.0, -1.0, 2.2396895360543567e-07, 0.1922570234057024, -0.2961622926630838, 0.24257118855765847, -0.9988130331039429, -0.0996817946434021, -0.18455003201961517, 1.7063035556930117e-05, 0.016957509665745107, -0.04055555779282177], "max": [2.7679914374614287, -2.040210246650572, 0.7005894097591151, 0.0, 0.0, 1.0, 0.0005792987067252398, 0.41188159891136733, 0.015492520514559072, 0.5900186690141762, 0.9997377991676331, 0.12315100431442261, 0.09753041714429855, 0.04146546497941017, 0.04000346147384831, -0.020497878396289724], "mean": [2.7678441651003443, -2.0405224692771533, 0.7002603675480054, 0.0, 0.0, -0.8068965171945506, 0.00020183720818342158, 0.2714228369326777, -0.16864584245171407, 0.3169469957851845, -0.5105754586471909, 0.03630958985665749, -0.05852726978413264, 0.011452884171978503, 0.0345038811640178, -0.03594844031327504], "std": [9.409875497089942e-05, 0.0002623276537428628, 0.00022007699378630388, 0.0, 0.0, 0.5906927640323164, 0.00022275636848811573, 0.07049661124785757, 0.08933284746876753, 0.06473795877886711, 0.8508212025092832, 0.07415264662472239, 0.07038763682027782, 0.009378110635825818, 0.007695080956151792, 0.006110864115484714], "count": [435]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9142857142857143, -0.6500000000000001, -0.7714285714285714, -0.08, -0.13142857142857142, -0.18285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.75, 0.7000000000000001, 0.04857142857142857, 0.2285714285714286, 0.08, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.013103448275862063, -0.006075533661740575, -0.051543513957307066, -0.0002824302134646972, 0.002134646962233171, -0.0068374384236453215, -0.2413793103448276], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24735335691274693, 0.2233132062862476, 0.260802656673449, 0.009907618722735536, 0.03922260855637507, 0.033153098273458595, 0.9704308468600226], "count": [435]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03678160905838013], "std": [0.18822519481182098], "count": [435]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022988505747126436], "std": [0.04789118771494174], "count": [435]}, "timestamp": {"min": [0.0], "max": [21.7], "mean": [10.85], "std": [6.278667586890284], "count": [435]}, "frame_index": {"min": [0], "max": [434], "mean": [217.0], "std": [125.57335173780568], "count": [435]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [435]}, "index": {"min": [22645], "max": [23079], "mean": [22862.0], "std": [125.57335173780568], "count": [435]}, "task_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [435]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3935994053260953]], [[0.32840240897384343]], [[0.2770336273791743]]], "std": [[[0.23598992177378778]], [[0.19301443987304542]], [[0.16234818421189623]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46355812701056986]], [[0.42800022678749233]], [[0.4239254282035079]]], "std": [[[0.2612727992665165]], [[0.2664991952804702]], [[0.25107828217912587]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46440528660194547]], [[0.4308289417940028]], [[0.4286782178691789]]], "std": [[[0.2567803300862761]], [[0.26076445942275117]], [[0.2454525469671579]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [240]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [240]}, "observation.state": {"min": [1.7149591144029064, -5.595373694571073, 0.6999931356710725, 0.0, 0.0, -0.7071644067764282, 0.7070490717887878, 0.13750074228432485, -0.25357914879620247, 0.23773653740428802, -0.9996974468231201, -0.3447120487689972, -0.21487076580524445, 0.0001588988525327295, 0.01963826592589341, -0.04000433968643386], "max": [1.7151947805103565, -5.595307527421934, 0.700085189951758, 0.0, 0.0, -0.7068915367126465, 0.7073220014572144, 0.4200401329738792, 0.11099382350869624, 0.58702493357031, 0.9997726082801819, 0.46785593032836914, 0.13112106919288635, 0.20660282671451569, 0.04009781070662252, -0.01880563664456855], "mean": [1.7150565050051867, -5.595345860542341, 0.7000368578567496, 0.0, 0.0, -0.7070573536058267, 0.7071561818321546, 0.2725811595888393, -0.048457053090295105, 0.317351663096199, -0.0210549699763457, 0.06237576660544922, -0.05249589972248335, 0.0645789223692797, 0.034513237920159326, -0.03395114778664609], "std": [5.4803176413900534e-05, 1.3384652406869018e-05, 2.181022118016552e-05, 0.0, 0.0, 6.952332480510065e-05, 6.952499937508297e-05, 0.08819682239987366, 0.1369460690663525, 0.080825734672608, 0.9580083035498417, 0.251605708306689, 0.07753753602769183, 0.04052511074178822, 0.0070510350282237105, 0.007690014139362182], "count": [240]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7035714285714285, -1.0, -0.9642857142857144, -0.21142857142857144, -0.2985714285714286, -0.18, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.942857142857143, 0.8107142857142857, 0.775, 0.22428571428571428, 0.06857142857142857, 0.07142857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.012976190476190483, -0.09095238095238099, -0.11549107142857147, 0.014363095238095239, -0.02199404761904763, -0.03376190476190477, -0.48333333333333334], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3035050464302309, 0.39746551248728484, 0.3843344796752164, 0.06188756371679566, 0.0522768496773496, 0.043840284231993196, 0.8754363991112614], "count": [240]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06666667014360428], "std": [0.24944382905960083], "count": [240]}, "next.done": {"min": [false], "max": [true], "mean": [0.004166666666666667], "std": [0.06441510347391795], "count": [240]}, "timestamp": {"min": [0.0], "max": [11.95], "mean": [5.975], "std": [3.4640715446807193], "count": [240]}, "frame_index": {"min": [0], "max": [239], "mean": [119.5], "std": [69.2814308936144], "count": [240]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [240]}, "index": {"min": [23080], "max": [23319], "mean": [23199.5], "std": [69.2814308936144], "count": [240]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [240]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[0.9607843137254902]], [[0.9647058823529412]]], "mean": [[[0.41150854970894607]], [[0.3751403838512944]], [[0.3117973830279182]]], "std": [[[0.2070746712101718]], [[0.17020141887128112]], [[0.1736625041214733]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5396061844171263]], [[0.48385413255878523]], [[0.4313290800206801]]], "std": [[[0.2606757760086078]], [[0.2815943272770081]], [[0.29704570162803184]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5632222086588542]], [[0.5219091437844668]], [[0.47741109032724416]]], "std": [[[0.27402396266460227]], [[0.2904048099762354]], [[0.2993360031278433]]], "count": [100]}, "annotation.human.task_description": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [293]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [293]}, "observation.state": {"min": [3.3278174219536476, -1.5605572204271778, 0.6999994715352577, 0.0, 0.0, -0.0005037785158492625, 0.9999998807907104, 0.24870107547908793, -0.40602359638855323, 0.23603965567125174, -0.9896718859672546, -0.388342946767807, -0.15288536250591278, 6.191345164552331e-05, 0.01871010652409552, -0.04031164924882647], "max": [3.3281939453617393, -1.5600786769311235, 0.7004988204213439, 0.0, 0.0, 0.00029268968501128256, 1.0, 0.49078292010571234, 0.021775325011264668, 0.59244746109388, 0.95003342628479, 0.38671091198921204, 0.13812966644763947, 0.12394460290670395, 0.040005431083247125, -0.018297591565392114], "mean": [3.3279511999799483, -1.5603403587305802, 0.7003229120593297, 0.0, 0.0, -9.63918839498388e-05, 0.9999999894217013, 0.37888631463952027, -0.18387106242467113, 0.3235623945548734, -0.5804164454391791, 0.058747864929075536, -0.08105791558482948, 0.04057653700618877, 0.034000551163827754, -0.034060798494281036], "std": [0.00015001644738860925, 0.00011608576097119651, 0.00020215567559289207, 0.0, 0.0, 0.00021033895684960705, 3.3898835855853685e-08, 0.07071417567819341, 0.11996115307976933, 0.07884361173158287, 0.7640423368400374, 0.2381708011609688, 0.098243884730419, 0.036203704861123724, 0.007811043105837521, 0.00785210236008636], "count": [293]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8821428571428571, -0.8, -0.07857142857142857, -0.3514285714285714, -0.21, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 0.7464285714285714, 0.8821428571428571, 0.14857142857142858, 0.10714285714285715, 0.1242857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.007228181374939065, -0.10294978059483177, -0.0533154558751828, 0.007601170160897122, 0.0004729400292540241, -0.02024865919063871, -0.4197952218430034], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24615989500898, 0.3556349274597426, 0.3290388884559746, 0.037459536154998516, 0.04146267761451996, 0.056441831253910696, 0.9076188471587544], "count": [293]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05460750684142113], "std": [0.22721253335475922], "count": [293]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034129692832764505], "std": [0.058320844677935364], "count": [293]}, "timestamp": {"min": [0.0], "max": [14.6], "mean": [7.299999999999999], "std": [4.2290660907581], "count": [293]}, "frame_index": {"min": [0], "max": [292], "mean": [146.0], "std": [84.581321815162], "count": [293]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [293]}, "index": {"min": [23320], "max": [23612], "mean": [23466.0], "std": [84.581321815162], "count": [293]}, "task_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [293]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.054901960784313725]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.583276907528148]], [[0.5223245436724495]], [[0.47561240820791206]]], "std": [[[0.18773810724605136]], [[0.2253738680628354]], [[0.2573575348710615]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.06666666666666667]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5240058809168199]], [[0.4311145498238358]], [[0.3855630600873162]]], "std": [[[0.18271948919432465]], [[0.24773545879931627]], [[0.2768971573588168]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.07058823529411765]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5243426944508273]], [[0.43125396130131743]], [[0.3854900452856924]]], "std": [[[0.18438783677915]], [[0.25012717369122844]], [[0.28002587374164994]]], "count": [100]}, "annotation.human.task_description": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [232]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [232]}, "observation.state": {"min": [0.8065645429361035, -3.6816275584141605, 0.6999985635067294, 0.0, 0.0, -1.0, 0.0, 0.24257533246220697, -0.15062495727597636, 0.24819782452731343, -0.9961796998977661, -0.22760580480098724, -0.14249187707901, 0.0014478737721219659, 0.020559826488297992, -0.03986633794100684], "max": [0.8067991567068677, -3.6811488219293813, 0.7005049354643985, 0.0, 0.0, 1.0, 0.0005351358558982611, 0.5017384794373754, 0.20663676134447506, 0.5875145379731392, 0.9822888970375061, 0.18630389869213104, 0.12577815353870392, 0.07851781696081161, 0.040485509502453394, -0.02050673275482329], "mean": [0.8066727588619675, -3.681423430383116, 0.7002478038105173, 0.0, 0.0, 0.48275861349599114, 0.00018866423770774935, 0.40880239268801527, 0.04458882549159471, 0.31902482690071166, -0.2691040511788993, -0.02937019539290461, -0.04623997004317312, 0.03814633373935819, 0.03589851993879804, -0.03549052766764225], "std": [7.873103466202468e-05, 0.0001467921602517817, 0.00017484562121055405, 0.0, 0.0, 0.8757534508685074, 0.00016531031929204018, 0.08022421365320152, 0.09597686117484973, 0.07781845804501784, 0.947032719851157, 0.14013338831251165, 0.0793354318739128, 0.018018731775668623, 0.005127563540293211, 0.005058031665422517], "count": [232]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8285714285714285, -0.8107142857142857, -0.775, -0.08571428571428572, -0.3757142857142857, -0.10714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6392857142857143, 1.0, 0.7785714285714286, 0.07142857142857142, 0.06428571428571428, 0.10571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.06730295566502463, -0.05309421182266011, -0.07815578817733995, -0.0032943349753694574, 0.0006342364532019731, -0.013866995073891627, -0.3706896551724138], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22702442900167644, 0.3209980061063827, 0.30487061333921184, 0.027953174055164155, 0.05649130325099133, 0.03680359326448056, 0.9287567924640749], "count": [232]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06896551698446274], "std": [0.2533954977989197], "count": [232]}, "next.done": {"min": [false], "max": [true], "mean": [0.004310344827586207], "std": [0.06551156962745976], "count": [232]}, "timestamp": {"min": [0.0], "max": [11.55], "mean": [5.7749999999999995], "std": [3.3486004539210104], "count": [232]}, "frame_index": {"min": [0], "max": [231], "mean": [115.5], "std": [66.97200907842021], "count": [232]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [232]}, "index": {"min": [23613], "max": [23844], "mean": [23728.5], "std": [66.97200907842021], "count": [232]}, "task_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [232]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5781234214633119]], [[0.49696633970971205]], [[0.441093604592716]]], "std": [[[0.16391643491974253]], [[0.22056110357598355]], [[0.28152420276762635]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6569255041982613]], [[0.6470271103802849]], [[0.6227697418811274]]], "std": [[[0.25704933082921283]], [[0.24736424700763648]], [[0.22866521687075064]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.629794475480622]], [[0.6203426842783012]], [[0.598500971177045]]], "std": [[[0.2551416132268505]], [[0.2466492238388846]], [[0.2296647557874616]]], "count": [100]}, "annotation.human.task_description": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [301]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [301]}, "observation.state": {"min": [4.858447170818644, -1.3044624478218099, 0.6999991221832604, 0.0, 0.0, -0.00011445832205936313, 1.0, 0.15654901440780478, -0.24851570877901774, 0.22681400316348366, -0.9922665953636169, -0.1362534463405609, -0.1715196669101715, 2.4087079509627074e-05, -0.0006478949133581476, -0.04063235561633716], "max": [4.858594297901006, -1.3042983515817335, 0.7046254686809431, 0.0, 0.0, 5.203024920774624e-05, 1.0, 0.4592120612714883, 0.19050651012725206, 0.5945494739489513, 0.9974687695503235, 0.13560383021831512, 0.17216822504997253, 0.03671598806977272, 0.039976098935591085, -0.014332274816261467], "mean": [4.858577722148069, -1.3043555807629907, 0.7018998841449279, 0.0, 0.0, 2.46715489747718e-07, 1.0, 0.319935145336831, -0.029419538245932172, 0.31104297638303696, -0.12158360493143532, -0.031990078720341486, 0.014880272543166673, 0.013070318793421676, 0.028391574962204964, -0.031999471803608064], "std": [2.6381135444568437e-05, 1.566031217592309e-05, 0.0015463634175535298, 0.0, 0.0, 1.704017667675641e-05, 0.0, 0.08568688293254308, 0.1137238126692045, 0.08760997490014057, 0.9810751866208325, 0.1086131006301216, 0.09698294810213283, 0.00952807820375726, 0.012391289439676706, 0.00959833767343411], "count": [301]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4392857142857143, -0.675, -0.5678571428571428, -0.06, -0.32571428571428573, -0.05, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6178571428571429, 0.7535714285714287, 0.775, 0.06, 0.1142857142857143, 0.05428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05864973896535361, -0.05406976744186047, -0.08415994304698632, 0.0013383958234456576, -0.003213099193165635, 0.0025628856193640223, -0.1893687707641196], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19278015910660692, 0.2670615569342935, 0.32852164164332587, 0.015515592594654728, 0.06686525899509481, 0.01958260452888712, 0.9819060386102573], "count": [301]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08637873828411102], "std": [0.28092247247695923], "count": [301]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033222591362126247], "std": [0.05754321619830157], "count": [301]}, "timestamp": {"min": [0.0], "max": [15.0], "mean": [7.5], "std": [4.344536799245692], "count": [301]}, "frame_index": {"min": [0], "max": [300], "mean": [150.0], "std": [86.89073598491383], "count": [301]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [301]}, "index": {"min": [23845], "max": [24145], "mean": [23995.0], "std": [86.89073598491383], "count": [301]}, "task_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [301]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6481334330240885]], [[0.567565850949755]], [[0.5010944584865196]]], "std": [[[0.2019573307355723]], [[0.23765719100272822]], [[0.28441421935771727]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40418615064433977]], [[0.38453839470358453]], [[0.37432828057981005]]], "std": [[[0.27141560018606997]], [[0.26979148685474874]], [[0.27222542804828054]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41497412588082105]], [[0.38986519009459253]], [[0.37519732845530795]]], "std": [[[0.3166144175470428]], [[0.3138760316909867]], [[0.316138250522491]]], "count": [100]}, "annotation.human.task_description": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [444]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [444]}, "observation.state": {"min": [0.8041332836462447, -1.3024490191423823, 0.6999973029262814, 0.0, 0.0, -1.0, 5.639874143525958e-05, 0.11924248408563498, -0.28806469180168404, 0.22907783459306252, -0.9945014715194702, -0.07866551727056503, -0.1868237406015396, 0.00013677225797437131, 0.01715507246073652, -0.04182738013765058], "max": [0.8043020670670656, -1.3021670881066334, 0.7039315776507031, 0.0, 0.0, 1.0, 0.0001573146291775629, 0.4325282217571411, 0.0664161794724829, 0.594603537183645, 0.9942667484283447, 0.0883917510509491, 0.23952245712280273, 0.10372712463140488, 0.04018481841593744, -0.01875456278173831], "mean": [0.8041428896404105, -1.3022042965074374, 0.7017742041930256, 0.0, 0.0, 0.9864864864864865, 7.634132636487086e-05, 0.24743323607282752, -0.14663169327986664, 0.32957020280354027, 0.4755273877500414, 0.0024865793550873662, 0.09415057615318277, 0.03229160919261893, 0.032058309936568226, -0.0330422086775975], "std": [2.0382900588908633e-05, 1.9811201653550707e-05, 0.0013167549358692728, 0.0, 0.0, 0.16384264395921871, 9.070780534527798e-06, 0.07739806563020153, 0.11562467046834433, 0.0909260972202031, 0.8600088793049001, 0.056479625869836556, 0.14286295905812166, 0.027302011225361304, 0.009633245379848483, 0.008520219121236064], "count": [444]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4821428571428572, -0.6285714285714287, -0.4964285714285714, -0.04857142857142857, -0.08571428571428572, -0.05285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6285714285714287, 0.5642857142857142, 0.6, 0.045714285714285714, 0.055714285714285716, 0.05857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.027718790218790215, -0.03812741312741316, -0.0827622265122264, -0.0019111969111969115, -0.0019948519948519957, -0.004115186615186615, -0.31981981981981983], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21220424987311204, 0.23426066554841204, 0.2419533564280261, 0.01294892954129831, 0.01672268132132861, 0.01503759360642135, 0.9474783812047727], "count": [444]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05180180072784424], "std": [0.2216266691684723], "count": [444]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022522522522522522], "std": [0.04740442608074141], "count": [444]}, "timestamp": {"min": [0.0], "max": [22.15], "mean": [11.075000000000001], "std": [6.408571733753682], "count": [444]}, "frame_index": {"min": [0], "max": [443], "mean": [221.5], "std": [128.17143467507364], "count": [444]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [444]}, "index": {"min": [24146], "max": [24589], "mean": [24367.5], "std": [128.17143467507364], "count": [444]}, "task_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [444]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3742443027870328]], [[0.3045709623448989]], [[0.24342133106904873]]], "std": [[[0.18540930760890523]], [[0.14336389297253196]], [[0.15265458098988405]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3592204601811428]], [[0.3138655174105775]], [[0.28285427617091763]]], "std": [[[0.27575719801126175]], [[0.27185190097139644]], [[0.28039125034055756]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4002143411075368]], [[0.3429296785242417]], [[0.30437724812825523]]], "std": [[[0.2767427539332518]], [[0.26968772101096194]], [[0.2791814520500434]]], "count": [100]}, "annotation.human.task_description": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [337]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [337]}, "observation.state": {"min": [0.8320517265857734, -1.1481252083698676, 0.6999963894957247, 0.0, 0.0, -1.0, 7.757796993246302e-06, 0.12420737536165749, -0.33818098761701865, 0.2317592304499212, -0.9988924860954285, -0.06882064789533615, -0.2822239398956299, 0.00011342245124978945, 0.014854505153982678, -0.039936395746002266], "max": [0.8328919525688613, -1.1477801093564082, 0.7015262413166885, 0.0, 0.0, 1.0, 0.00029260251903906465, 0.4078473586127608, 0.04742480152389539, 0.6084441076260001, 0.9955219626426697, 0.056379079818725586, 0.28126388788223267, 0.059446919709444046, 0.04000445548930678, -0.018701477379125662], "mean": [0.8323713587609147, -1.1478921535389188, 0.7004800421515555, 0.0, 0.0, 0.4362017804154303, 9.979907225781429e-05, 0.27630537250614073, -0.05580178370409564, 0.3510125048501055, -0.6251483494167158, 0.014319210968226283, -0.07788030468500896, 0.026901733631091794, 0.03379156931391509, -0.03408182179404435], "std": [0.0003296553650716128, 9.053777019540783e-05, 0.0005485338627711565, 0.0, 0.0, 0.8998488799584115, 6.48070523274458e-05, 0.09181465277588659, 0.134475302928903, 0.10347002533149478, 0.7657099341671335, 0.04268672474781212, 0.11783434187340083, 0.013291574131503567, 0.008424946119721003, 0.007900282737604507], "count": [337]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7928571428571429, -0.6857142857142857, -0.7017857142857142, -0.12000000000000001, -0.2721428571428572, -0.1457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6000000000000001, 0.5196428571428572, 0.9535714285714285, 0.17571428571428574, 0.20357142857142857, 0.135, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00321110640101737, -0.07019923696481563, -0.08126324713861816, 0.0013671047053836363, -0.003420941076727432, -0.0017676981771937257, -0.42433234421364985], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18801885453769196, 0.1856056346518309, 0.32215017546428193, 0.027649674284816492, 0.06166678038243738, 0.03757231336123975, 0.9055065221488743], "count": [337]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0771513357758522], "std": [0.2668314278125763], "count": [337]}, "next.done": {"min": [false], "max": [true], "mean": [0.002967359050445104], "std": [0.05439258985110789], "count": [337]}, "timestamp": {"min": [0.0], "max": [16.8], "mean": [8.4], "std": [4.864154602806124], "count": [337]}, "frame_index": {"min": [0], "max": [336], "mean": [168.0], "std": [97.28309205612247], "count": [337]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [337]}, "index": {"min": [24590], "max": [24926], "mean": [24758.0], "std": [97.28309205612247], "count": [337]}, "task_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [337]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.625388506122664]], [[0.5580050066779642]], [[0.4976539605832567]]], "std": [[[0.2549070369682001]], [[0.2742144196903557]], [[0.2706538236803191]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5175373194077436]], [[0.4255522843903186]], [[0.3538607626522289]]], "std": [[[0.21509853524105885]], [[0.25610672838744514]], [[0.286521373893765]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49312760835535385]], [[0.39488490564682904]], [[0.3189618201162301]]], "std": [[[0.21211240695164305]], [[0.25061680061960906]], [[0.2808848153939506]]], "count": [100]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [439]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [439]}, "observation.state": {"min": [2.5929509841677767, -0.7862935584661995, 0.6999930320635696, 0.0, 0.0, 0.7067385315895081, 0.7070881724357605, 0.12769363428387503, -0.27748470073946185, 0.240703447163221, -0.9971054792404175, -0.10632114112377167, -0.2924116253852844, 0.0002465225988999009, 0.020565966830155373, -0.04044096464526524], "max": [2.5936022438285993, -0.785101340370308, 0.701741191200113, 0.0, 0.0, 0.7071253657341003, 0.707474946975708, 0.4249122847427509, 0.2905205830293802, 0.5989089196433822, 0.9707567095756531, 0.08706696331501007, 0.25251370668411255, 0.07409606873989105, 0.040402180390961516, -0.020500593937938103], "mean": [2.5931900772329888, -0.7855149285237413, 0.7005705729059881, 0.0, 0.0, 0.7069835903161208, 0.7072299014191421, 0.2759297613815547, 0.011252365582702413, 0.35422246938963253, -0.9631582592234254, -0.04831250594050575, -0.12090042615648793, 0.04299482987843059, 0.03626392442958415, -0.036310344321522116], "std": [0.00021408248262110726, 0.00037773748456141715, 0.0005688919175346516, 0.0, 0.0, 0.00011344559440934964, 0.00011342162750688213, 0.07096377596129856, 0.1639861707317294, 0.08467323954516451, 0.20748742217953223, 0.0654889337283535, 0.07712932312199983, 0.015421818567775825, 0.00404134459686231, 0.00357221251498901], "count": [439]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8089285714285713, -1.0, -0.75, -0.15, -0.2507142857142857, -0.10500000000000001, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.75, 0.9535714285714285, 0.9107142857142857, 0.13285714285714284, 0.22071428571428572, 0.14142857142857146, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.006504230393752028, -0.04118532378782952, -0.04269850309144161, 0.0004539537910836317, -0.001186137325089491, -0.0024162056622193317, -0.1070615034168565], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27212470958476986, 0.3203144925052693, 0.34806928459559566, 0.019011583125310667, 0.06084224402269368, 0.03053852625345841, 0.9942523997889666], "count": [439]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06378132104873657], "std": [0.2443629652261734], "count": [439]}, "next.done": {"min": [false], "max": [true], "mean": [0.002277904328018223], "std": [0.0476730057778049], "count": [439]}, "timestamp": {"min": [0.0], "max": [21.9], "mean": [10.950000000000001], "std": [6.336402764976355], "count": [439]}, "frame_index": {"min": [0], "max": [438], "mean": [219.0], "std": [126.7280552995271], "count": [439]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [439]}, "index": {"min": [24927], "max": [25365], "mean": [25146.0], "std": [126.7280552995271], "count": [439]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [439]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6275018101112515]], [[0.5444378662109375]], [[0.4860132583917356]]], "std": [[[0.2447264220725138]], [[0.2998546340147487]], [[0.3482989289748833]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.07058823529411765]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5731348595712699]], [[0.564272216796875]], [[0.563104772829542]]], "std": [[[0.21650979841404663]], [[0.21966348687986337]], [[0.22057669831589097]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.07058823529411765]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6053278156355315]], [[0.5981350570379519]], [[0.5969535241220512]]], "std": [[[0.21548699636474816]], [[0.2160201979694821]], [[0.21396298295427107]]], "count": [100]}, "annotation.human.task_description": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [416]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [416]}, "observation.state": {"min": [1.5438941666002572, -5.527279958762312, 0.699997827619352, 0.0, 0.0, -0.7071252465248108, 0.7070883512496948, 0.1645791010685178, -0.080388069134125, 0.2503491053038217, -0.9994334578514099, -0.050034403800964355, -0.35128816962242126, 0.00019818864529952407, 0.020526907031918354, -0.04000129429933064], "max": [1.543937272153544, -5.527225471655673, 0.7008766292370759, 0.0, 0.0, -0.70708829164505, 0.7071252465248108, 0.420748280605884, 0.33410141449056097, 0.603401316920495, 0.9996568560600281, 0.03187893331050873, 0.35131949186325073, 0.07558730989694595, 0.040005767466601574, -0.018440087963131162], "mean": [1.5439162705320786, -5.527270077910107, 0.700219226022263, 0.0, 0.0, -0.7071068580620564, 0.7071066571829411, 0.28812496519114494, 0.10086404610531156, 0.38076751099161055, -0.6638048011809587, -0.016616288505387135, -0.060965024267576294, 0.038614850058785614, 0.036389088956067975, -0.03594786877415369], "std": [4.8328215576320914e-06, 6.748144669597829e-06, 0.00021905323556744235, 0.0, 0.0, 3.735185258325414e-06, 3.735835422496332e-06, 0.07054594083425404, 0.14200702796386935, 0.1041487444506222, 0.7353762210993529, 0.023469884332703063, 0.11055221031121282, 0.018122802160076, 0.0047521019192591565, 0.005368461696816974], "count": [416]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7017857142857142, -0.9857142857142858, -0.6428571428571429, -0.10714285714285715, -0.2571428571428572, -0.04071428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6160714285714286, 0.7017857142857142, 0.9964285714285716, 0.09, 0.2978571428571429, 0.10714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0162130837912088, 0.0075849931318681275, -0.037731799450549414, -3.0906593406593894e-05, 6.181318681319035e-05, 0.0027197802197802203, -0.40865384615384615], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22630708282742898, 0.2930540315775102, 0.3409808339528983, 0.021563085735732127, 0.0782230106138276, 0.019802442873311222, 0.91268945103122], "count": [416]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06730769574642181], "std": [0.2505541145801544], "count": [416]}, "next.done": {"min": [false], "max": [true], "mean": [0.002403846153846154], "std": [0.048970069200633085], "count": [416]}, "timestamp": {"min": [0.0], "max": [20.75], "mean": [10.375], "std": [6.004425451281746], "count": [416]}, "frame_index": {"min": [0], "max": [415], "mean": [207.5], "std": [120.08850902563492], "count": [416]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [416]}, "index": {"min": [25366], "max": [25781], "mean": [25573.5], "std": [120.08850902563492], "count": [416]}, "task_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [416]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3935220342897901]], [[0.2877683422612209]], [[0.21741972859700523]]], "std": [[[0.17905508408872872]], [[0.12427845690382487]], [[0.14389583865005387]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4596578117819393]], [[0.3749666837804458]], [[0.35473447552849263]]], "std": [[[0.27027034744641365]], [[0.2706039750999803]], [[0.2803608297832804]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4653393279430913]], [[0.37762089867685356]], [[0.35518719661937037]]], "std": [[[0.27022084210741043]], [[0.27196623808233783]], [[0.2823676825389462]]], "count": [100]}, "annotation.human.task_description": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [294]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [294]}, "observation.state": {"min": [1.482678725971011, -4.748553628666057, 0.6999966184937298, 0.0, 0.0, -0.707322895526886, 0.7068907022476196, 0.15799033951180697, -0.1486579880140495, 0.2333122568849475, -0.9951204061508179, -0.05686488747596741, -0.1705235093832016, 0.0003071670944336802, 0.02052537750367148, -0.03986836115031973], "max": [1.4831186158510024, -4.74832469233828, 0.7003702522977212, 0.0, 0.0, -0.7070305943489075, 0.7071830034255981, 0.37490351179387194, 0.25705416753774823, 0.584392548812768, 0.9873075485229492, 0.08999554812908173, 0.1980476975440979, 0.10453645884990692, 0.040657303565217, -0.020541182883487358], "mean": [1.4829618664987096, -4.748466787160266, 0.7001244713167877, 0.0, 0.0, -0.7071759749432, 0.7070375676868724, 0.2582626329188072, 0.12000017961776958, 0.32878189556997367, -0.7146036304584166, -0.00804190063963131, -0.08078389363933583, 0.04171514105307949, 0.03522491618881166, -0.03511562668426079], "std": [0.00013097953680602596, 7.369355255644042e-05, 0.00013592789364500052, 0.0, 0.0, 6.22779874500254e-05, 6.22777408267756e-05, 0.055344205601492336, 0.10616320180936208, 0.08474645776387507, 0.6843646777687997, 0.04766831676379941, 0.09953191721790322, 0.021838216304375643, 0.0055057691618628155, 0.005396766731779113], "count": [294]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5892857142857143, -0.8178571428571428, -0.5928571428571429, -0.07142857142857142, -0.37714285714285717, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5928571428571429, 0.6178571428571429, 0.7714285714285714, 0.12285714285714287, 0.05714285714285715, 0.09714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.007094266277939733, -0.03694120505344992, -0.053146258503401246, -0.00044703595724004025, -0.0027502429543245868, -0.005218658892128279, -0.3469387755102041], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2322325409458445, 0.31801368036996286, 0.29767619713691335, 0.02604596729017288, 0.04138652349446008, 0.03503361193662799, 0.9378877790266166], "count": [294]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054421767592430115], "std": [0.2268480658531189], "count": [294]}, "next.done": {"min": [false], "max": [true], "mean": [0.003401360544217687], "std": [0.05822191417899214], "count": [294]}, "timestamp": {"min": [0.0], "max": [14.65], "mean": [7.325], "std": [4.2434999312674275], "count": [294]}, "frame_index": {"min": [0], "max": [293], "mean": [146.5], "std": [84.86999862534856], "count": [294]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [294]}, "index": {"min": [25782], "max": [26075], "mean": [25928.5], "std": [84.86999862534856], "count": [294]}, "task_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [294]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.06274509803921569]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6712251114900741]], [[0.5780670668049562]], [[0.4796401952183813]]], "std": [[[0.19098927943583438]], [[0.1984971602019186]], [[0.21865942316654927]]], "count": [118]}, "observation.images.robot0_agentview_left": {"min": [[[0.08235294117647059]], [[0.07058823529411765]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46819406739498304]], [[0.43052157969045335]], [[0.39589804043679505]]], "std": [[[0.2450192755540414]], [[0.2417576400828555]], [[0.24199628935999667]]], "count": [118]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4836596726341159]], [[0.4526487533655544]], [[0.4205695119637831]]], "std": [[[0.25149296075300165]], [[0.24462052169461698]], [[0.24325314300495957]]], "count": [118]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [579]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [579]}, "observation.state": {"min": [2.2045649608733244, -0.8118490862511074, 0.6999942662544123, 0.0, 0.0, 0.7070060968399048, 0.7068716883659363, 0.15058747446879983, -0.18957519503018005, 0.2484208238943606, -0.9959462285041809, -0.25733956694602966, -0.1871059238910675, 0.00017857506463769823, 0.020575919370337734, -0.03996426022932788], "max": [2.204819212286098, -0.8117661659700195, 0.7000883338733104, 0.0, 0.0, 0.7073419094085693, 0.707207441329956, 0.3573985202427427, 0.16213421948509454, 0.6036214805021196, 0.9960571527481079, 0.21476761996746063, 0.1333596259355545, 0.07825759798288345, 0.04004875210480657, -0.02049064159194021], "mean": [2.2046794998865313, -0.8118101323913783, 0.7000352316788525, 0.0, 0.0, 0.7072016802682366, 0.7070118511073124, 0.25147921257002087, -0.044987659760926106, 0.3171287994792337, -0.7096806631804747, 0.08629708025533712, -0.03734177049547084, 0.034040545877247176, 0.03628350601258614, -0.035891521589251074], "std": [6.057572199846369e-05, 1.3184143252644706e-05, 2.673147451150447e-05, 0.0, 0.0, 8.035065216630634e-05, 8.034813915347475e-05, 0.044500734292488825, 0.11601538464004968, 0.07546713275428132, 0.6755832424103865, 0.1558925168755696, 0.07274595640125335, 0.018596705642236717, 0.004878667298686728, 0.005405976263577371], "count": [579]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7928571428571428, -0.7000000000000001, -0.6928571428571428, -0.09142857142857143, -0.1457142857142857, -0.26285714285714284, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6357142857142857, 0.4857142857142857, 0.4785714285714286, 0.08857142857142856, 0.32571428571428573, 0.16285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00989390574882803, -0.018418455465087576, -0.041857883049592884, -0.0011991117690599562, -0.0003306192943498625, 0.0005970885763631875, -0.3609671848013817], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16993632329820765, 0.17551145180710898, 0.15952528301381938, 0.015325594857249296, 0.04554639274452249, 0.05742537038125655, 0.932578517604047], "count": [579]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027633851394057274], "std": [0.16392138600349426], "count": [579]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017271157167530224], "std": [0.041522677997137505], "count": [579]}, "timestamp": {"min": [0.0], "max": [28.9], "mean": [14.45], "std": [8.357132682126489], "count": [579]}, "frame_index": {"min": [0], "max": [578], "mean": [289.0], "std": [167.14265364252975], "count": [579]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [579]}, "index": {"min": [26076], "max": [26654], "mean": [26365.0], "std": [167.14265364252975], "count": [579]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [579]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6818162434895834]], [[0.6553504626704197]], [[0.6191055644914216]]], "std": [[[0.2517278055998418]], [[0.2754833638921813]], [[0.31353118522053636]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5234169305539599]], [[0.49940687411439183]], [[0.4849398468615962]]], "std": [[[0.24122486318899208]], [[0.24920565915462803]], [[0.2567949201380908]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.050980392156862744]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5446403120452282]], [[0.5016450105554917]], [[0.478194227031633]]], "std": [[[0.227585406982567]], [[0.24250309911516962]], [[0.2563505095242327]]], "count": [100]}, "annotation.human.task_description": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [394]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [394]}, "observation.state": {"min": [0.8054603890981491, -0.9091150467988046, 0.6999964388905466, 0.0, 0.0, -1.0, 8.448392208038058e-08, 0.201270533984113, -0.2048070442236758, 0.25447132258265415, -0.9985840320587158, -0.03506859391927719, -0.16847684979438782, 1.2724845873890445e-05, 0.020554619869482548, -0.03999417147226061], "max": [0.8055135324623185, -0.9089195824337477, 0.7000547864506487, 0.0, 0.0, 1.0, 0.00028927306993864477, 0.34395116749380217, 0.3459386901333811, 0.5933302528270668, 0.9984621405601501, 0.2392396628856659, 0.16588765382766724, 0.10480518639087677, 0.040006429278877084, -0.020511939593268823], "mean": [0.8054874435383189, -0.9090180466713563, 0.700021294191692, 0.0, 0.0, -0.6091370558375635, 9.717554245928854e-05, 0.29104846133108025, 0.0223993668205658, 0.348825993634859, -0.08638363078160939, 0.06067344592647807, 0.0051848951651511455, 0.025905900353952953, 0.03627561169493718, -0.03605801056782683], "std": [1.5438283950800475e-05, 5.0112850129902534e-05, 1.690420997766696e-05, 0.0, 0.0, 0.793064970355867, 0.00010025713556728357, 0.04316594625079632, 0.15270836202350138, 0.08810955123128639, 0.9854457557497281, 0.07997891575938611, 0.0986483808968807, 0.03044888182479032, 0.004767662622454952, 0.005063180413710443], "count": [394]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.44285714285714284, -0.7642857142857143, -0.5142857142857143, -0.05142857142857143, -0.12285714285714287, -0.29428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 0.9857142857142858, 0.75, 0.16285714285714287, 0.1742857142857143, 0.12571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.013034807831762151, 0.06269035532994924, -0.0531907179115301, 0.005184916606236402, -0.0006308919506889057, -0.004503263234227699, -0.4213197969543147], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.10920716003266513, 0.27956451377023056, 0.23994094932242196, 0.028754120273458042, 0.03455291977228924, 0.053240231369906424, 0.9069121394569444], "count": [394]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04314720630645752], "std": [0.20318840444087982], "count": [394]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025380710659898475], "std": [0.050315298481215756], "count": [394]}, "timestamp": {"min": [0.0], "max": [19.65], "mean": [9.825000000000001], "std": [5.68688183453815], "count": [394]}, "frame_index": {"min": [0], "max": [393], "mean": [196.5], "std": [113.73763669076301], "count": [394]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [394]}, "index": {"min": [26655], "max": [27048], "mean": [26851.5], "std": [113.73763669076301], "count": [394]}, "task_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [394]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.058823529411764705]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6073626080681297]], [[0.5835541698979397]], [[0.5367377379174326]]], "std": [[[0.13806205208663122]], [[0.18418008813224554]], [[0.1947703448101789]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37571955303117344]], [[0.3577058033662684]], [[0.3342424394196155]]], "std": [[[0.25628503108880735]], [[0.2559495034294898]], [[0.2605398634439297]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.08235294117647059]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3828690299239813]], [[0.36716990811217065]], [[0.3454807416130514]]], "std": [[[0.260260366781571]], [[0.2602251390702623]], [[0.26487806136960246]]], "count": [100]}, "annotation.human.task_description": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [302]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [302]}, "observation.state": {"min": [1.4933202630755793, -0.8257571675334897, 0.6999984603658981, 0.0, 0.0, 0.7070589065551758, 0.7067477703094482, 0.24100833037594382, -0.03451558732319282, 0.24866001385761904, -0.9925937652587891, -0.25725504755973816, -0.2040530890226364, 2.8549187845783308e-05, 0.02050015815882112, -0.040080993657683056], "max": [1.4936829107762968, -0.8255896611856337, 0.7007096785134307, 0.0, 0.0, 0.7074655890464783, 0.7071545720100403, 0.5481892938215078, 0.3382648142636673, 0.590648170040274, 0.9858696460723877, 0.2656077444553375, 0.194302499294281, 0.0810602605342865, 0.04000102387239788, -0.0205107336894042], "mean": [1.4935469421171397, -0.8256898122956703, 0.7002454585025317, 0.0, 0.0, 0.7072240510918447, 0.7069894606309222, 0.4054326948124953, 0.10288923967073409, 0.3391836098370476, -0.0084143022433022, -0.040139110425844886, -0.02688434022330596, 0.03310901772324873, 0.03530925255339322, -0.03603165227022724], "std": [9.810325259670182e-05, 4.7755661133192096e-05, 0.00025657723706894815, 0.0, 0.0, 0.00010973308496508381, 0.00010976493915054574, 0.08321819638384358, 0.1271543492059507, 0.08725852231329555, 0.9789991347012945, 0.15888369711856984, 0.11025206533098539, 0.025694873613675073, 0.006572481200065489, 0.0052940128295723525], "count": [302]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.4821428571428572, -0.1142857142857143, -0.4114285714285714, -0.10571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 0.7678571428571429, 0.8821428571428571, 0.1242857142857143, 0.15285714285714286, 0.07428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005995742667928048, -0.006752601702932834, -0.06546830652790916, 0.004091769157994324, 0.0009508041627246949, -0.015416272469252593, -0.48344370860927155], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2969060570264594, 0.3789498582734571, 0.2928657156180889, 0.03949740281158859, 0.06453181223399385, 0.03267150239321995, 0.8753754512242818], "count": [302]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05298013240098953], "std": [0.22399383783340454], "count": [302]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033112582781456954], "std": [0.05744818401621679], "count": [302]}, "timestamp": {"min": [0.0], "max": [15.05], "mean": [7.525], "std": [4.358970635367942], "count": [302]}, "frame_index": {"min": [0], "max": [301], "mean": [150.5], "std": [87.17941270735884], "count": [302]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [302]}, "index": {"min": [27049], "max": [27350], "mean": [27199.5], "std": [87.17941270735884], "count": [302]}, "task_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [302]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5499409113865272]], [[0.49966279931161917]], [[0.4232227059158624]]], "std": [[[0.19441581154103768]], [[0.24870632082828326]], [[0.25141032404126984]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.09019607843137255]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.584447805367264]], [[0.5629020666982614]], [[0.5409182410146677]]], "std": [[[0.24395903284042392]], [[0.23733315306979932]], [[0.22891143416540422]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.09019607843137255]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6031321770163143]], [[0.5861214354271982]], [[0.56218228448606]]], "std": [[[0.23515038545320613]], [[0.2245455237858394]], [[0.21505021116619777]]], "count": [100]}, "annotation.human.task_description": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [320]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [320]}, "observation.state": {"min": [4.934669875909219, -0.7742353662838949, 0.7000000215503541, 0.0, 0.0, 0.7069688439369202, 0.7070099711418152, 0.19610989649158495, -0.024102303916349044, 0.2497784452531513, -0.9995960593223572, -0.2476712167263031, -0.13333912193775177, 0.00029052174068056047, 0.02056943859383477, -0.040260567029495445], "max": [4.934987350644742, -0.7738169449772156, 0.7008013505673696, 0.0, 0.0, 0.7072035670280457, 0.7072446346282959, 0.4023716465511143, 0.41850524098106323, 0.5938638122537523, 0.9995983242988586, 0.033907078206539154, 0.12330357730388641, 0.12870405614376068, 0.040120107331169476, -0.020497122458109876], "mean": [4.934779861619907, -0.7740182060154351, 0.7003572482174313, 0.0, 0.0, 0.7070879604667425, 0.7071255732327699, 0.2818808687902795, 0.16211197752162967, 0.3585154472415223, -0.9507895981892943, -0.10629535877960734, 0.007070087190720642, 0.050674975470701614, 0.03684904800733786, -0.035778350393815536], "std": [7.385612089677232e-05, 0.00010683683517502706, 0.000198166621831418, 0.0, 0.0, 5.694651993210814e-05, 5.694669060861156e-05, 0.057922558226993, 0.14176520388514288, 0.07776565924554345, 0.26974136296813317, 0.0661417265608094, 0.06323543683045084, 0.03080004556649929, 0.0034382648818105776, 0.004406293631410265], "count": [320]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7607142857142858, -0.5732142857142857, -0.6910714285714286, -0.07714285714285715, -0.31285714285714283, -0.09428571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6107142857142858, 0.6535714285714286, 0.9696428571428571, 0.17571428571428574, 0.21642857142857144, 0.10285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.006512276785714295, 0.08164620535714287, -0.04784598214285721, 0.0005491071428571418, 0.0017812499999999981, -0.00016071428571428657, -0.20625], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.28803924820552845, 0.23545474598969093, 0.3861152221797372, 0.03876458101862762, 0.07344258815959823, 0.034308349113263345, 0.9784993293303783], "count": [320]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07187499850988388], "std": [0.25828084349632263], "count": [320]}, "next.done": {"min": [false], "max": [true], "mean": [0.003125], "std": [0.05581428468591172], "count": [320]}, "timestamp": {"min": [0.0], "max": [15.95], "mean": [7.975], "std": [4.618779600717056], "count": [320]}, "frame_index": {"min": [0], "max": [319], "mean": [159.5], "std": [92.37559201434111], "count": [320]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [320]}, "index": {"min": [27351], "max": [27670], "mean": [27510.5], "std": [92.37559201434111], "count": [320]}, "task_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [320]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5616776799220665]], [[0.40345940862917434]], [[0.3214721189012714]]], "std": [[[0.13382630585842736]], [[0.11348445329146324]], [[0.12473846501867933]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.047058823529411764]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5842405293782552]], [[0.4915386753456265]], [[0.43084928624770225]]], "std": [[[0.12836899150893216]], [[0.16477755355600493]], [[0.1839763202525565]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.050980392156862744]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5891884651932062]], [[0.4950256694718903]], [[0.43266484817804074]]], "std": [[[0.1243748558994064]], [[0.16646631396522468]], [[0.188629232689794]]], "count": [100]}, "annotation.human.task_description": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [391]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [391]}, "observation.state": {"min": [1.5940634098602233, -4.702132042868043, 0.6999984737050282, 0.0, 0.0, -0.7072264552116394, 0.7069871425628662, 0.16527651485376715, -0.39366858195872867, 0.23841727372165755, -0.9954198002815247, -0.09760627150535583, -0.14091756939888, 9.018126002047211e-05, 0.0010560450360299646, -0.03997831275060583], "max": [1.5941837487494388, -4.702064840207543, 0.7032382196424387, 0.0, 0.0, -0.7071343064308167, 0.7070792317390442, 0.49621002822483185, 0.08454263443631382, 0.6001281226866614, 0.9918656945228577, 0.1151832640171051, 0.25068455934524536, 0.11948493123054504, 0.040651572947969374, -0.017370323772618747], "mean": [1.5941461067923626, -4.702122482311493, 0.7015486328232863, 0.0, 0.0, -0.7071618870701022, 0.7070516323494485, 0.3189476670395173, -0.02261412264238444, 0.33085351597225876, -0.9699571949746603, 0.03221435787732644, 0.06486798296956454, 0.030109833512144683, 0.03638901353361972, -0.03409042856511449], "std": [1.4233574441191884e-05, 1.216867935579827e-05, 0.001065800618341715, 0.0, 0.0, 1.0694191016429817e-05, 1.0679504072191277e-05, 0.09765831566749149, 0.14208011541295557, 0.0862209741592529, 0.1727680705335088, 0.053322396175869376, 0.1395993798179108, 0.029167661845818187, 0.007634988152787949, 0.0065595061139213885], "count": [391]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7535714285714287, -0.9357142857142857, -0.5821428571428572, -0.02142857142857143, -0.06571428571428571, -0.05285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8285714285714285, 0.23214285714285718, 0.8642857142857142, 0.09142857142857143, 0.1242857142857143, 0.05428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0496620387285349, -0.06994884910485932, -0.0964833759590792, 0.006229448301059552, 0.012418706613080024, 0.0010084033613445378, -0.25831202046035806], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.267227154575721, 0.25512268707877744, 0.2832397585351222, 0.020066457965521322, 0.03577941969654753, 0.023177916365344976, 0.9660615405271477], "count": [391]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06649616360664368], "std": [0.24914738535881042], "count": [391]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025575447570332483], "std": [0.05050746204125703], "count": [391]}, "timestamp": {"min": [0.0], "max": [19.5], "mean": [9.75], "std": [5.643580423808985], "count": [391]}, "frame_index": {"min": [0], "max": [390], "mean": [195.0], "std": [112.8716084761797], "count": [391]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [391]}, "index": {"min": [27671], "max": [28061], "mean": [27866.0], "std": [112.8716084761797], "count": [391]}, "task_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [391]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7272261652428151]], [[0.6642148113559365]], [[0.6053703152699945]]], "std": [[[0.25173223127931854]], [[0.2922028153612186]], [[0.2882092104806202]]], "count": [103]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.027450980392156862]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5693537507491999]], [[0.5041900280382936]], [[0.45609311536450897]]], "std": [[[0.23830586930457284]], [[0.26916795539867394]], [[0.2756324343402455]]], "count": [103]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.03137254901960784]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5849957791278868]], [[0.5177038076921074]], [[0.4684196258666922]]], "std": [[[0.23412989900726397]], [[0.2684119046645271]], [[0.27625191957980816]]], "count": [103]}, "annotation.human.task_description": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [487]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [487]}, "observation.state": {"min": [2.1764939428212884, -4.766104659017905, 0.699995770142915, 0.0, 0.0, -0.00043913585250265896, 0.9999998807907104, 0.24011307456470599, -0.2046635311985021, 0.23322890164416243, -0.9979189038276672, -0.09927847981452942, -0.1637493371963501, 0.0012776057701557875, 0.007672618380685869, -0.04023168263754141], "max": [2.1769759136995663, -4.765599876027213, 0.7009330213791615, 0.0, 0.0, 0.00021553962142206728, 1.0, 0.4242521434905049, 0.33421169111628135, 0.5963973968832943, 0.9912896156311035, 0.1617674082517624, 0.15358544886112213, 0.08099380135536194, 0.04042992689718037, -0.007409029568933688], "mean": [2.1767824548169936, -4.765866274256294, 0.7003582590600498, 0.0, 0.0, -0.00011702912810198038, 0.9999999985313024, 0.33382488764964213, 0.03330289123874141, 0.3293536746203719, -0.7778886863827951, -0.0068028993613910875, -0.07220462768566192, 0.02911419510837545, 0.03286744884138154, -0.03325120446540392], "std": [0.00017356703529295791, 0.0001162608691891955, 0.0003673535878987452, 0.0, 0.0, 0.00015821183505036664, 1.3150107462610124e-08, 0.05844820702441085, 0.14818413026588276, 0.08389852891370485, 0.6112427538441949, 0.09142748915059373, 0.08058506407258653, 0.017638738280740487, 0.011563074025498797, 0.011624615155679434], "count": [487]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7000000000000001, -0.8214285714285715, -0.7428571428571429, -0.06857142857142857, -0.1, -0.15714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8214285714285715, 1.0, 0.7714285714285714, 0.21714285714285717, 0.2, 0.13428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.009841595775887356, 0.05702552068055145, -0.04442651804048101, 0.0030566148430624823, 0.004605456145497213, -0.000375476679378114, -0.3593429158110883], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1758089284802186, 0.2971427070493088, 0.26530735966572017, 0.028105209479241746, 0.027950318686855706, 0.03442613011611264, 0.9332055876688612], "count": [487]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.030800821259617805], "std": [0.1727776974439621], "count": [487]}, "next.done": {"min": [false], "max": [true], "mean": [0.002053388090349076], "std": [0.045267777587368795], "count": [487]}, "timestamp": {"min": [0.0], "max": [24.3], "mean": [12.15], "std": [7.029224708315989], "count": [487]}, "frame_index": {"min": [0], "max": [486], "mean": [243.0], "std": [140.5844941663198], "count": [487]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [487]}, "index": {"min": [28062], "max": [28548], "mean": [28305.0], "std": [140.5844941663198], "count": [487]}, "task_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [487]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6525487946155025]], [[0.6062032111672794]], [[0.5844110221114813]]], "std": [[[0.1988971766437162]], [[0.25141385260764293]], [[0.2895791315583376]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.06274509803921569]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4470270726821002]], [[0.4554941807167203]], [[0.4532077391381357]]], "std": [[[0.24243292338024577]], [[0.22850606786370198]], [[0.2323980818096828]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.06666666666666667]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46061765842811736]], [[0.4725089075425092]], [[0.4711698883655025]]], "std": [[[0.24617995447883645]], [[0.22976018643192223]], [[0.23262523455318443]]], "count": [100]}, "annotation.human.task_description": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [393]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [393]}, "observation.state": {"min": [2.9512155748997846, -0.791568543365414, 0.6999982573987336, 0.0, 0.0, 0.7070845365524292, 0.7068935632705688, 0.15607824547368676, -0.43026436537437807, 0.22756105044596486, -0.9999038577079773, -0.30880051851272583, -0.14948293566703796, 9.548907837597653e-05, 0.005290767652030237, -0.04196499920612516], "max": [2.9516986869542348, -0.7913486243031699, 0.705263326868796, 0.0, 0.0, 0.7073198556900024, 0.7071289420127869, 0.37632346299694835, 0.25895706039510724, 0.5974379622326459, 0.9999060034751892, 0.3172732889652252, 0.14264556765556335, 0.07798092067241669, 0.0400657261106617, -0.013621261211066604], "mean": [2.951500821739491, -0.7913608173982638, 0.702897192719358, 0.0, 0.0, 0.7071120883065629, 0.707101424231784, 0.30357839845851414, -0.07504642601188227, 0.3353887045839147, 0.21030994165338027, 0.04287773657248903, 0.04655050089921679, 0.02413669111094267, 0.029975414876992693, -0.03278569261295955], "std": [3.829600728411873e-05, 2.787140501915378e-05, 0.0017739972649450507, 0.0, 0.0, 2.281208518682577e-05, 2.281546533185804e-05, 0.05895778404553725, 0.18790515030822486, 0.08434801831877185, 0.9521047114083161, 0.20221053587337878, 0.05988490452863335, 0.0142483536965017, 0.010216092848064686, 0.008783136861986712], "count": [393]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4535714285714286, -0.7714285714285714, -0.7535714285714287, -0.06, -0.1442857142857143, -0.16428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4535714285714286, 0.6428571428571428, 0.7571428571428572, 0.09, 0.14, 0.16285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.023909487459105778, -0.08199745547073796, -0.07290076335877865, 0.0019120319883678654, 0.004830970556161397, -0.003609596510359866, -0.17048346055979643], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18059120902267234, 0.31656347557708825, 0.3270118315658415, 0.020132240515606713, 0.047920605398148804, 0.04987755529523315, 0.9853605379126761], "count": [393]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07888040691614151], "std": [0.26955199241638184], "count": [393]}, "next.done": {"min": [false], "max": [true], "mean": [0.002544529262086514], "std": [0.05037910909217133], "count": [393]}, "timestamp": {"min": [0.0], "max": [19.6], "mean": [9.799999999999999], "std": [5.672448031200169], "count": [393]}, "frame_index": {"min": [0], "max": [392], "mean": [196.0], "std": [113.44896062400336], "count": [393]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [393]}, "index": {"min": [28549], "max": [28941], "mean": [28745.0], "std": [113.44896062400336], "count": [393]}, "task_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [393]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38329599592178726]], [[0.3649057135227043]], [[0.2940524975776491]]], "std": [[[0.233679381486125]], [[0.2418823716775436]], [[0.1736893934093901]]], "count": [103]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40541584821694154]], [[0.380747330231869]], [[0.36626588250259523]]], "std": [[[0.2377383919180002]], [[0.23950517300205074]], [[0.24422026597756855]]], "count": [103]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40469251887221436]], [[0.37667379649779736]], [[0.36055625161737936]]], "std": [[[0.237538017983106]], [[0.24062835975129007]], [[0.24726302668745156]]], "count": [103]}, "annotation.human.task_description": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [483]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [483]}, "observation.state": {"min": [-1.1171629573667974, -2.0727106511618145, 0.6999993024027045, 0.0, 0.0, -6.261556700337678e-05, 1.0, 0.20888950031494646, -0.09794349955160175, 0.24397835190357442, -0.9980010390281677, -0.09219571948051453, -0.17054088413715363, 0.018739739432930946, 0.0025035616536129004, -0.039963033221414285], "max": [-1.1171086815603684, -2.0726235276054252, 0.7022309682179856, 0.0, 0.0, 2.535290695959702e-05, 1.0, 0.6373925721519964, 0.2704537931026758, 0.5888935715545764, -0.9809272289276123, -0.009108446538448334, -0.03861970081925392, 0.045732349157333374, 0.040320017689531, -0.005424462885839334], "mean": [-1.1171146440333237, -2.0726419862439958, 0.7008725941107846, 0.0, 0.0, -1.1703354647025587e-06, 1.0, 0.474296770304708, 0.08721066196710676, 0.35116607194652166, -0.9907504267080477, -0.04595267188043081, -0.1136587119466523, 0.03286570390420301, 0.035174275633117175, -0.03445932237002722], "std": [9.71173587270972e-06, 9.163566960941632e-06, 0.0007275244774179077, 0.0, 0.0, 7.563162102978714e-06, 0.0, 0.12090410755376628, 0.08811299007848171, 0.08462547360196028, 0.004703329645685602, 0.026574417103848252, 0.0384956412214866, 0.009656655005210103, 0.006971613540080173, 0.0062106694965086235], "count": [483]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.36071428571428577, -0.4392857142857143, -0.4357142857142858, -0.008571428571428572, -0.08142857142857143, -0.028571428571428574, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4285714285714286, 0.4321428571428571, 0.5928571428571429, 0.032857142857142856, 0.11857142857142858, 0.03142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0571354628808045, -0.014877255249926032, -0.07269299023957411, 0.0007926648920437738, -0.0015764566696243717, 0.0015734989648033136, -0.16770186335403728], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14475274780334893, 0.16672259615416996, 0.24946495220938167, 0.0043163139420824975, 0.03129565235230791, 0.008755305868380133, 0.9858377579640483], "count": [483]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028985507786273956], "std": [0.1677657663822174], "count": [483]}, "next.done": {"min": [false], "max": [true], "mean": [0.002070393374741201], "std": [0.045454448033333636], "count": [483]}, "timestamp": {"min": [0.0], "max": [24.1], "mean": [12.049999999999999], "std": [6.971489558671566], "count": [483]}, "frame_index": {"min": [0], "max": [482], "mean": [241.0], "std": [139.4297911734313], "count": [483]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [483]}, "index": {"min": [28942], "max": [29424], "mean": [29183.0], "std": [139.4297911734313], "count": [483]}, "task_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [483]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5960888001685049]], [[0.5351793518066407]], [[0.47796903961780024]]], "std": [[[0.15976911292346396]], [[0.13407533264073015]], [[0.1554177331822656]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5080593010397519]], [[0.49274251302083333]], [[0.4628168628169041]]], "std": [[[0.16845246816422474]], [[0.16555654981032702]], [[0.1748551627301223]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5009152586693857]], [[0.4973684153837316]], [[0.46229703357172947]]], "std": [[[0.16685421637419146]], [[0.1629550988715437]], [[0.17575210110645678]]], "count": [100]}, "annotation.human.task_description": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [340]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [340]}, "observation.state": {"min": [2.3096444297848286, -0.8172046933979307, 0.699998455246929, 0.0, 0.0, 0.7067748308181763, 0.7070645689964294, 0.18866659259568885, -0.10351980377702663, 0.23655341842140054, -0.9997881650924683, -0.17323140799999237, -0.1687031388282776, 0.00047640062985010445, 0.020559855959216094, -0.04007990048870794], "max": [2.3104247897880676, -0.8166237437328289, 0.7013086898836556, 0.0, 0.0, 0.7071489095687866, 0.7074386477470398, 0.4787305956984786, 0.42738408545336326, 0.5979238986730172, 0.9997878074645996, 0.16918247938156128, 0.07472167909145355, 0.08409310132265091, 0.04067093304726885, -0.018338127580269967], "mean": [2.309950589256962, -0.8167721697663075, 0.700378204609942, 0.0, 0.0, 0.7069880112129099, 0.7072255174903309, 0.3254106180363807, 0.14065080686015585, 0.3439907096965771, 0.40571710204376893, -0.05649274257833467, -0.031215879122336285, 0.032752976840385924, 0.03832158800439477, -0.03711928534104599], "std": [0.00020448239512067115, 0.00013750229486469422, 0.0003344324921577546, 0.0, 0.0, 8.783530932466225e-05, 8.781832412712975e-05, 0.08473883120660208, 0.17344861942404738, 0.084879274749514, 0.9044568827602795, 0.08701816471295126, 0.06287822953829926, 0.02422642022419663, 0.0030499053396910066, 0.004948530073716631], "count": [340]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8928571428571429, -1.0, -0.5464285714285715, -0.11142857142857143, -0.15571428571428572, -0.05714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7928571428571428, 1.0, 0.6392857142857143, 0.11571428571428573, 0.16428571428571428, 0.09285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.009884453781512611, 0.014558823529411728, -0.06611344537815128, -0.0028865546218487413, 0.014273109243697478, -0.010575630252100832, -0.5176470588235295], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27443974935278886, 0.4279210756903475, 0.2758185836591342, 0.031280673386375794, 0.05409636224127798, 0.02175711679440598, 0.8555942510859609], "count": [340]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09117647260427475], "std": [0.2878599166870117], "count": [340]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029411764705882353], "std": [0.05415280188094697], "count": [340]}, "timestamp": {"min": [0.0], "max": [16.95], "mean": [8.475000000000001], "std": [4.907456061953076], "count": [340]}, "frame_index": {"min": [0], "max": [339], "mean": [169.5], "std": [98.14912123906153], "count": [340]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [340]}, "index": {"min": [29425], "max": [29764], "mean": [29594.5], "std": [98.14912123906153], "count": [340]}, "task_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [340]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.054901960784313725]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.585209779028799]], [[0.5033504453172871]], [[0.44237754911534927]]], "std": [[[0.11586067358944258]], [[0.12969627160175393]], [[0.14779977701217228]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5450505508722043]], [[0.5163729026644838]], [[0.48815644208122705]]], "std": [[[0.2308939123611579]], [[0.24410732072964458]], [[0.256544791469145]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.560825341318168]], [[0.5294354666915594]], [[0.4999602553423713]]], "std": [[[0.22108221255680457]], [[0.2404961972528462]], [[0.2563250914113651]]], "count": [100]}, "annotation.human.task_description": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [433]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [433]}, "observation.state": {"min": [4.594485679640762, -0.8273203307063179, 0.6999991190020419, 0.0, 0.0, 0.7070403099060059, 0.7070696353912354, 0.130303165930871, -0.1574583582304827, 0.22994143066939166, -0.9941663146018982, -0.03973345458507538, -0.2730106711387634, 0.019749322906136513, 0.020564341794753242, -0.040385334417972645], "max": [4.5945969902715875, -0.8271772270994164, 0.7038856770699107, 0.0, 0.0, 0.7071439027786255, 0.7071732878684998, 0.49379381897009844, 0.2355817937151512, 0.6138604674167207, -0.9583724141120911, 0.08901574462652206, -0.08174756914377213, 0.08834277093410492, 0.040676026331823864, -0.013331800285623197], "mean": [4.594513905831302, -0.8271901797732669, 0.7012394338138704, 0.0, 0.0, 0.7071063924606623, 0.7071071199677007, 0.2807363266768628, -0.013821976996463344, 0.3368515817811332, -0.9794268122170869, 0.015477591364130412, -0.18355090153891826, 0.04293375151279204, 0.03710663011905232, -0.034637885636753366], "std": [1.5025852791622798e-05, 2.038920210664558e-05, 0.0011205991005193128, 0.0, 0.0, 9.433403988885425e-06, 9.43727342186887e-06, 0.08819669092206947, 0.12584451048399464, 0.08755561253387434, 0.008754976380657425, 0.050556332754372775, 0.04544999641510703, 0.01584389339338134, 0.003885713508444384, 0.007649068328225146], "count": [433]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6857142857142858, -0.4928571428571429, -0.5285714285714286, -0.05857142857142858, -0.15428571428571428, -0.07, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7035714285714285, 0.4285714285714286, 0.6892857142857142, 0.07571428571428573, 0.06714285714285714, 0.02142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00027218739689874837, 0.04041570438799076, -0.11082151105245794, 0.0016727152754866385, -0.006779940613658858, -0.003299241174529857, -0.3210161662817552], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2629351747457418, 0.16917192300655876, 0.2835385344808191, 0.015367695399061918, 0.028192309465362574, 0.010144019054602795, 0.9470737146525432], "count": [433]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05773672088980675], "std": [0.23324492573738098], "count": [433]}, "next.done": {"min": [false], "max": [true], "mean": [0.0023094688221709007], "std": [0.04800140806195503], "count": [433]}, "timestamp": {"min": [0.0], "max": [21.6], "mean": [10.799999999999999], "std": [6.249799996799898], "count": [433]}, "frame_index": {"min": [0], "max": [432], "mean": [216.0], "std": [124.99599993599796], "count": [433]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [433]}, "index": {"min": [29765], "max": [30197], "mean": [29981.0], "std": [124.99599993599796], "count": [433]}, "task_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [433]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.984313725490196]], [[1.0]]], "mean": [[[0.6128265117570466]], [[0.5488122953527115]], [[0.4817977205164292]]], "std": [[[0.12894871557383467]], [[0.1543184554698582]], [[0.19254109845348497]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6315485067928539]], [[0.5977901030895757]], [[0.5466508053050322]]], "std": [[[0.13877063644101914]], [[0.13752587881332598]], [[0.15021665378298454]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6290138831045113]], [[0.5924094651166131]], [[0.5434716096765855]]], "std": [[[0.1614824905904212]], [[0.15722463341291795]], [[0.1658098223196326]]], "count": [100]}, "annotation.human.task_description": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [313]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [313]}, "observation.state": {"min": [0.7882141129230635, -5.404719752758065, 0.6999980522818111, 0.0, 0.0, -1.0, 8.877886159552872e-08, 0.19981904325274458, -0.29600838244861194, 0.25328434401505406, -0.9949295520782471, -0.22363537549972534, -0.19417333602905273, 1.5425353012687992e-06, 0.02055934487770165, -0.04069037085591287], "max": [0.7891510399263948, -5.403594580058648, 0.701488160072836, 0.0, 0.0, 1.0, 0.0003432582307141274, 0.3979158691956132, 0.13373340336084372, 0.6012389908017063, 0.9962119460105896, 0.22388137876987457, 0.2935687005519867, 0.10621744394302368, 0.039940736444029304, -0.02050721433441499], "mean": [0.7884473708021094, -5.4038512814444335, 0.7003275925289164, 0.0, 0.0, -0.07348242811501597, 8.885385065278146e-05, 0.2835765042958151, -0.052815944347217335, 0.3470613998787683, 0.06082173981986488, -0.01832133550613452, 0.028731068221334453, 0.014984063978460244, 0.036384248844002515, -0.035727021092243065], "std": [0.00024446627407349804, 0.0002719323829250196, 0.0003917788583805282, 0.0, 0.0, 0.9972965119553558, 9.247125347694182e-05, 0.0541309220092978, 0.13942993012790533, 0.07989680104063279, 0.9793070378374157, 0.11133199582025977, 0.15136987049394057, 0.02377221835353015, 0.004288624584421029, 0.00466894800331458], "count": [313]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.567857142857143, -0.8892857142857145, -0.5410714285714286, -0.15857142857142859, -0.34285714285714286, -0.2057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43928571428571433, 0.8839285714285714, 1.0, 0.1542857142857143, 0.17142857142857143, 0.1157142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.013692377909630305, -0.057713372889091744, -0.05466681880419894, 0.003676403468735738, -0.008277042446371518, -0.010994979461433138, -0.20766773162939298], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16941078207133817, 0.2900518682255771, 0.3699618668722004, 0.03235228289739134, 0.06914189897465811, 0.04688442547495919, 0.9781994240643908], "count": [313]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08306708931922913], "std": [0.27598363161087036], "count": [313]}, "next.done": {"min": [false], "max": [true], "mean": [0.003194888178913738], "std": [0.05643297678164758], "count": [313]}, "timestamp": {"min": [0.0], "max": [15.6], "mean": [7.799999999999999], "std": [4.517742799230607], "count": [313]}, "frame_index": {"min": [0], "max": [312], "mean": [156.0], "std": [90.35485598461214], "count": [313]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [313]}, "index": {"min": [30198], "max": [30510], "mean": [30354.0], "std": [90.35485598461214], "count": [313]}, "task_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [313]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6228263596587428]], [[0.590737417111139]], [[0.5691151342091643]]], "std": [[[0.23455332856477484]], [[0.2415660222033149]], [[0.2545404429823014]]], "count": [165]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5297734355416527]], [[0.5137955123529644]], [[0.5085434603676935]]], "std": [[[0.26755883555019133]], [[0.2662824183495558]], [[0.26208377204498456]]], "count": [165]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5432882072099673]], [[0.5236472335516238]], [[0.5151554104492767]]], "std": [[[0.2649375720126597]], [[0.26447671236766696]], [[0.26168512484674056]]], "count": [165]}, "annotation.human.task_description": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [912]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [912]}, "observation.state": {"min": [2.673090371147331, -6.4879768149275385, 0.6999866297984199, 0.0, 0.0, -0.9999089241027832, 0.00021176984591875225, -0.06655498585839847, -0.23319681206367804, 0.23948764700579417, -0.9891282916069031, -0.14017176628112793, -0.5370292067527771, 2.0322722775745206e-05, 0.00511306239280693, -0.040083553285940425], "max": [4.772613755452579, -2.048846948324686, 0.7008776275209052, 0.0, 0.0, 1.0, 0.7277536988258362, 0.61006569535673, 0.3050648169467731, 0.7066711129949393, 0.9756799340248108, 0.1489926278591156, 0.4850376844406128, 0.139728844165802, 0.04001870072899986, -0.0020238104942628438], "mean": [3.092581877207592, -2.909722108441721, 0.7002912745391909, 0.0, 0.0, -0.30203391755359216, 0.6681344587563568, 0.19838638437337652, 0.009812958091303474, 0.5404770007308543, -0.32012852300938804, -0.0032093366281243795, -0.045057584805283366, 0.027663532040286667, 0.03679222890624794, -0.037752046129024434], "std": [0.7198263309642277, 1.4997838665149594, 0.0003076208880746308, 0.0, 0.0, 0.667219711571852, 0.13110953285887442, 0.23802378276722352, 0.10710798288452054, 0.16582582020275458, 0.8876306502337135, 0.07189543471144608, 0.3172102632305584, 0.032132473121213805, 0.005935226492352046, 0.005009394437388571], "count": [912]}, "action": {"min": [-0.29464285714285715, -1.0, -0.10714285714285715, 0.0, -1.0, -1.0, -0.7446428571428572, -0.675, -0.15, -0.2721428571428572, -0.20357142857142857, -1.0], "max": [1.0, 0.525, 0.5442857142857144, 0.0, 1.0, 0.5035714285714286, 0.75, 1.0, 0.17357142857142857, 0.23357142857142857, 0.11142857142857143, 1.0], "mean": [0.17439692982456145, -0.11749882518796993, 0.0631320488721805, 0.0, -0.2982456140350877, 0.0209410244360902, -0.018368186090225558, -0.024169799498746848, 0.0035455827067669182, 0.002140507518796994, -0.0025563909774436087, -0.6140350877192983], "std": [0.3612565984695184, 0.27247127717806724, 0.15433799527999706, 0.0, 0.9544891585077622, 0.28291925308963184, 0.17351759709214004, 0.28893876068113167, 0.03577421198820285, 0.07161110367130759, 0.026912672346677474, 0.7892787283650536], "count": [912]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021929824724793434], "std": [0.14645443856716156], "count": [912]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010964912280701754], "std": [0.033095149721023176], "count": [912]}, "timestamp": {"min": [0.0], "max": [45.55], "mean": [22.775], "std": [13.163578224277268], "count": [912]}, "frame_index": {"min": [0], "max": [911], "mean": [455.5], "std": [263.27156448554535], "count": [912]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [912]}, "index": {"min": [30511], "max": [31422], "mean": [30966.5], "std": [263.27156448554535], "count": [912]}, "task_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [912]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10980392156862745]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6950570762484681]], [[0.616419896144493]], [[0.5415662590475643]]], "std": [[[0.15321885519747644]], [[0.17582517977555479]], [[0.18442834092640492]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.054901960784313725]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.696263256596584]], [[0.6381989309273515]], [[0.5703698826210172]]], "std": [[[0.12228560945548103]], [[0.14890040882950306]], [[0.17615894005960664]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.06274509803921569]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6986407554476869]], [[0.6393713666130515]], [[0.5704591226016774]]], "std": [[[0.11951505205386789]], [[0.14702812846434943]], [[0.1745667836117905]]], "count": [100]}, "annotation.human.task_description": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [221]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [221]}, "observation.state": {"min": [2.799216641319311, -2.0242945144675817, 0.6999974067725224, 0.0, 0.0, -0.7071591019630432, 0.7070543766021729, 0.23272567612893003, -0.19483088795317416, 0.2389405539778343, -0.996665358543396, -0.37472525238990784, -0.26461923122406006, 0.0003234664327464998, 0.019467599276986672, -0.040209039792907166], "max": [2.799657841494331, -2.024211106052108, 0.7001165045958363, 0.0, 0.0, -0.7066990733146667, 0.707514226436615, 0.415533590943991, 0.22621840472561416, 0.5924919844666404, 0.9490989446640015, 0.3710252642631531, 0.18173880875110626, 0.06340348720550537, 0.03999829543067463, -0.020547423129773857], "mean": [2.7993734906110785, -2.0242325436857693, 0.7000315797125974, 0.0, 0.0, -0.7069945017137139, 0.7072189995066612, 0.31072823728754845, 0.051442283134678836, 0.3276949093693546, -0.35091946270670826, -0.053761180844242216, -0.01805559835687482, 0.035606827390405486, 0.033959622896614014, -0.034448179728937045], "std": [0.00013237562067287592, 1.7972436238629618e-05, 4.090333146256387e-05, 0.0, 0.0, 0.00014181842238658536, 0.00014177202860248038, 0.055409283868580135, 0.10147668855233864, 0.07923454051243628, 0.9027077832791602, 0.21432076721916082, 0.10562532457451351, 0.019999185764652736, 0.007465040361312544, 0.006920382434828819], "count": [221]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9571428571428572, -0.9750000000000001, -0.6821428571428572, -0.07714285714285714, -0.47000000000000003, -0.13857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.31785714285714284, 0.7928571428571428, 0.632142857142857, 0.09857142857142857, 0.04857142857142857, 0.05714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.013251454427925002, -0.07459599224305104, -0.08754040077569501, 0.0003555268261150625, -0.015623787976729153, -0.028745959922430515, -0.4298642533936652], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20947430039848552, 0.34710174999098764, 0.33782304917890044, 0.02534922073999123, 0.08185330846563534, 0.040659184451271854, 0.9028935284153429], "count": [221]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07239819318056107], "std": [0.2591460645198822], "count": [221]}, "next.done": {"min": [false], "max": [true], "mean": [0.004524886877828055], "std": [0.06711491843525487], "count": [221]}, "timestamp": {"min": [0.0], "max": [11.0], "mean": [5.5], "std": [3.1898275815473163], "count": [221]}, "frame_index": {"min": [0], "max": [220], "mean": [110.0], "std": [63.796551630946325], "count": [221]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [221]}, "index": {"min": [31423], "max": [31643], "mean": [31533.0], "std": [63.796551630946325], "count": [221]}, "task_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [221]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35874486107919734]], [[0.2919012020335478]], [[0.2501236261106005]]], "std": [[[0.22334957459774463]], [[0.1817877552135955]], [[0.14703834064331756]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5466089974197688]], [[0.37184383915919883]], [[0.33382799275716146]]], "std": [[[0.25902245955807673]], [[0.2967773628546412]], [[0.3197956063230533]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5584658741670496]], [[0.38743506338082107]], [[0.34851218967811737]]], "std": [[[0.2556865973906149]], [[0.30033020454820986]], [[0.3224413961279036]]], "count": [100]}, "annotation.human.task_description": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [287]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [287]}, "observation.state": {"min": [3.0100941311232616, -0.8227485726307001, 0.699998893081024, 0.0, 0.0, 0.7070907950401306, 0.7070555686950684, 0.2353032866029452, -0.33720282757227116, 0.24127603355784988, -0.9989622235298157, -0.1208847165107727, -0.12867386639118195, 0.019311726093292236, 0.020559327503615048, -0.040589260271863985], "max": [3.010185335263226, -0.8226816940292088, 0.7011013068007511, 0.0, 0.0, 0.7071579694747925, 0.707122802734375, 0.4076874716762095, 0.12110875525140319, 0.5941326946179069, -0.9813880920410156, -0.03642910346388817, 0.16828367114067078, 0.08145343512296677, 0.040004575367279645, -0.02050723315483166], "mean": [3.0101444144766583, -0.8226992844920971, 0.7004952197661822, 0.0, 0.0, 0.7071126865592983, 0.7071008298039851, 0.3155563370902806, -0.0784065650777442, 0.3369774869552279, -0.9917802856358917, -0.0717550944861427, 0.007761710765528191, 0.038394461590342405, 0.03516612482708617, -0.03827679033985322], "std": [1.0420298905408217e-05, 8.007529253184758e-06, 0.0003501963036759591, 0.0, 0.0, 8.245736915629319e-06, 8.24601167377087e-06, 0.04348375597154971, 0.13851763985295187, 0.07719813212408444, 0.004654605026579537, 0.022620968142790892, 0.09436598747880083, 0.01582349282401285, 0.005512931029461, 0.0025808938161772962], "count": [287]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8946428571428571, -0.6642857142857143, -0.5785714285714285, -0.1157142857142857, -0.39000000000000007, -0.07928571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5785714285714285, 0.9214285714285715, 0.9964285714285716, 0.07071428571428573, 0.12214285714285715, 0.10500000000000001, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.003341214534594331, -0.0890741662518666, -0.05069686411149825, 0.001463414634146342, 0.006144848183175718, 0.005174216027874565, -0.3170731707317073], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24940433886200794, 0.2814325756707906, 0.3533919866068635, 0.011983873965252217, 0.07820847793145504, 0.024303529276348584, 0.9484010778157858], "count": [287]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09059233218431473], "std": [0.2870285212993622], "count": [287]}, "next.done": {"min": [false], "max": [true], "mean": [0.003484320557491289], "std": [0.058925207405183845], "count": [287]}, "timestamp": {"min": [0.0], "max": [14.3], "mean": [7.15], "std": [4.142463035441596], "count": [287]}, "frame_index": {"min": [0], "max": [286], "mean": [143.0], "std": [82.84926070883192], "count": [287]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [287]}, "index": {"min": [31644], "max": [31930], "mean": [31787.0], "std": [82.84926070883192], "count": [287]}, "task_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [287]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4901838618259804]], [[0.45255818266027115]], [[0.4247470158595665]]], "std": [[[0.14034316937826358]], [[0.13310771304129784]], [[0.14813925140265619]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46515700336531096]], [[0.42606422155043655]], [[0.40244154088637407]]], "std": [[[0.20494556181966955]], [[0.2175195867731444]], [[0.22840151449711305]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4523373568665748]], [[0.4188400956696155]], [[0.3985106093462776]]], "std": [[[0.19897538748625326]], [[0.2064704255410031]], [[0.21376130448301428]]], "count": [100]}, "annotation.human.task_description": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [445]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [445]}, "observation.state": {"min": [2.521472515084871, -4.08080713449956, 0.69999667367456, 0.0, 0.0, 0.707006573677063, 0.7069812417030334, 0.2591121377051948, -0.04791708072737322, 0.22839580796011594, -0.9998536109924316, -0.031307779252529144, -0.09883682429790497, 0.004751494619995356, 0.0018283862842865231, -0.03998187293038748], "max": [2.521674672192873, -4.080310807781526, 0.7012228430356664, 0.0, 0.0, 0.7072322964668274, 0.7072070240974426, 0.6811722337621537, 0.288864342176828, 0.5635454438125655, -0.9913928508758545, 0.07143404334783554, 0.1273009181022644, 0.017506465315818787, 0.04006730842624927, -0.0017053100440211448], "mean": [2.5215814428009367, -4.080451955095895, 0.7003476526046905, 0.0, 0.0, 0.7070912681268842, 0.7071222518267256, 0.594428099182091, 0.06472446280075096, 0.3056198129351564, -0.9962562551659144, 0.0073322700441218495, 0.060765340709753056, 0.010647867588598406, 0.03346817042286385, -0.033518498207732596], "std": [3.6247503386978016e-05, 0.00016477955317656897, 0.00040737634031341914, 0.0, 0.0, 3.895439272548714e-05, 3.8941973718136664e-05, 0.0867694787136155, 0.11102912981932561, 0.09409670219949662, 0.0022658627173937494, 0.03623288758194549, 0.047823399886755685, 0.0029795178582436104, 0.011957491570699405, 0.012006031088769438], "count": [445]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7928571428571428, -0.9714285714285714, -0.6, -0.008571428571428572, -0.13142857142857142, -0.13142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9, 0.6500000000000001, 0.6785714285714286, 0.02, 0.12285714285714287, 0.014285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04348314606741567, -0.005842696629213473, -0.06751203852327452, 0.00030176565008025683, 0.004410914927768858, -0.0030947030497592287, -0.5595505617977528], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25460257235334965, 0.23992953949730098, 0.20036661286276755, 0.002217422642306746, 0.028506634557862426, 0.01595793805985983, 0.8287962166852739], "count": [445]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03595505654811859], "std": [0.18617810308933258], "count": [445]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022471910112359553], "std": [0.04735125282181006], "count": [445]}, "timestamp": {"min": [0.0], "max": [22.2], "mean": [11.1], "std": [6.423005527009921], "count": [445]}, "frame_index": {"min": [0], "max": [444], "mean": [222.0], "std": [128.46011054019843], "count": [445]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [445]}, "index": {"min": [31931], "max": [32375], "mean": [32153.0], "std": [128.46011054019843], "count": [445]}, "task_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [445]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6147846099255132]], [[0.5830473046396293]], [[0.554378527473001]]], "std": [[[0.24210931286355608]], [[0.2849021559439454]], [[0.3017778585672157]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5567609019559973]], [[0.5433329856722963]], [[0.5348057615990732]]], "std": [[[0.28368621891826357]], [[0.2845848727039946]], [[0.27480335564721214]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5139251092648974]], [[0.5014744520000383]], [[0.502167226155599]]], "std": [[[0.2887203325480817]], [[0.29137108068368545]], [[0.2757323564544782]]], "count": [100]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [391]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [391]}, "observation.state": {"min": [4.087575438292116, -0.8151217137043187, 0.6999991530225256, 0.0, 0.0, 0.7064751982688904, 0.706862211227417, 0.223938915503346, -0.26324947139517896, 0.2287899334266409, -0.9947230815887451, -0.6015607118606567, -0.3004297912120819, 0.0001051668223226443, 0.0010574266203564942, -0.040601532673664516], "max": [4.088669874719183, -0.8139589466511493, 0.7018860028410385, 0.0, 0.0, 0.7073512673377991, 0.7077377438545227, 0.47412952227511784, 0.27774303126800426, 0.5857687215486466, 0.9916662573814392, 0.5967196226119995, 0.19652387499809265, 0.15863598883152008, 0.04089931236437649, -0.001056681440840809], "mean": [4.088234273540109, -0.8147824262132022, 0.7011399574868719, 0.0, 0.0, 0.7069025039672852, 0.7073109218531557, 0.3496417303721441, -0.12364255797131898, 0.3253231565623007, 0.10163667668466983, -0.267862248089155, -0.037016092580469215, 0.05774355079221558, 0.028104423368573828, -0.028180750172446967], "std": [0.00030487039690862896, 0.00037985240505243866, 0.0005761416868423185, 0.0, 0.0, 0.0002391678349799463, 0.00023901321828960676, 0.08379953627360791, 0.17104577185319456, 0.07457240719907626, 0.8832825468224436, 0.33615937408493884, 0.13528690073898397, 0.041491672717263485, 0.013629904407033643, 0.013697050401009528], "count": [391]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9821428571428572, -1.0, -0.775, -0.08571428571428572, -0.34, -0.22142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4035714285714285, 1.0, 1.0, 0.15857142857142856, 0.16, 0.045714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.009782608695652159, -0.023666423090975507, -0.03491048593350379, 0.010869565217391304, 0.005469492144683962, -0.02998903909389843, -0.289002557544757], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2147619381939748, 0.4973534229544349, 0.31322125360130404, 0.039036435048709114, 0.05033265400510061, 0.05989686914923124, 0.9573283249400841], "count": [391]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.040920715779066086], "std": [0.1981065720319748], "count": [391]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025575447570332483], "std": [0.05050746204125703], "count": [391]}, "timestamp": {"min": [0.0], "max": [19.5], "mean": [9.75], "std": [5.643580423808985], "count": [391]}, "frame_index": {"min": [0], "max": [390], "mean": [195.0], "std": [112.8716084761797], "count": [391]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [391]}, "index": {"min": [32376], "max": [32766], "mean": [32571.0], "std": [112.8716084761797], "count": [391]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [391]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4314223704618566]], [[0.37847159830729166]], [[0.31496273384842216]]], "std": [[[0.1588451959627103]], [[0.1452755677127758]], [[0.16413040655855032]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5532504434024585]], [[0.5128891457950367]], [[0.459917309330959]]], "std": [[[0.2625984497831083]], [[0.27119142882757435]], [[0.2695462746434899]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5371655518774893]], [[0.508656670663871]], [[0.4636252088359758]]], "std": [[[0.26838352219440376]], [[0.26757679908700416]], [[0.25676114134036393]]], "count": [100]}, "annotation.human.task_description": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [455]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [455]}, "observation.state": {"min": [4.561908842859508, -1.357239155977253, 0.6999966598114665, 0.0, 0.0, -8.896219696907792e-06, 1.0, 0.1225982207435834, -0.07091516464944925, 0.2448768403574133, -0.9987073540687561, -0.05853947997093201, -0.170998215675354, 0.006293876096606255, 0.020526449649966253, -0.040532856096513414], "max": [4.561997212274906, -1.3570047266040615, 0.7035212466081278, 0.0, 0.0, 0.00024495224351994693, 1.0, 0.31915607475786434, 0.4998277184825495, 0.585983592575169, -0.9766306281089783, 0.11171245574951172, 0.04429037496447563, 0.10856693983078003, 0.04117458882287845, -0.010454321755021156], "mean": [4.5619879426802274, -1.3570588293917705, 0.701848046120697, 0.0, 0.0, 0.00014749104230149597, 1.0, 0.2241956096592511, 0.09818228643022445, 0.3451266473036651, -0.988663997230949, 0.04548570332782609, -0.09330547956844465, 0.06440919121358912, 0.035290869232609594, -0.03279940887732968], "std": [1.2710034962496296e-05, 2.711040262607265e-05, 0.0013235876502549295, 0.0, 0.0, 2.431021691488248e-05, 0.0, 0.05652618493018303, 0.19191506937153255, 0.07800128659226567, 0.006350449606962184, 0.05039898648641459, 0.06503410059709666, 0.028465337812637558, 0.006079448476051122, 0.00877342757157943], "count": [455]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4, -0.6500000000000001, -0.6642857142857144, -0.05142857142857143, -0.16428571428571428, -0.055714285714285716, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.42500000000000004, 0.8392857142857143, 0.7142857142857143, 0.03142857142857143, 0.08142857142857143, 0.08285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.019843014128728367, 0.09386185243328099, -0.10589481946624812, -0.0018901098901098904, -0.007585557299843011, -0.005532182103610675, -0.07692307692307693], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1683803363781743, 0.2885561177300043, 0.31599237973100996, 0.008714532176638659, 0.039552968819405045, 0.015290064756484445, 0.9970370305242846], "count": [455]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05934065952897072], "std": [0.23626118898391724], "count": [455]}, "next.done": {"min": [false], "max": [true], "mean": [0.002197802197802198], "std": [0.046829177478379155], "count": [455]}, "timestamp": {"min": [0.0], "max": [22.7], "mean": [11.35], "std": [6.567343450741708], "count": [455]}, "frame_index": {"min": [0], "max": [454], "mean": [227.0], "std": [131.34686901483414], "count": [455]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [455]}, "index": {"min": [32767], "max": [33221], "mean": [32994.0], "std": [131.34686901483414], "count": [455]}, "task_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [455]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09803921568627451]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5625548215379902]], [[0.45947520536534925]], [[0.41043937114640777]]], "std": [[[0.1448963961061615]], [[0.21547361423321337]], [[0.2571329817123884]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.027450980392156862]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6018835413315717]], [[0.5903139044069776]], [[0.569691686892042]]], "std": [[[0.25164718436735656]], [[0.2464647496427297]], [[0.23484092466506504]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.0392156862745098]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5742222912358302]], [[0.5695166422526042]], [[0.5534632287118949]]], "std": [[[0.2445904891161072]], [[0.2359860210025202]], [[0.2252018118674328]]], "count": [100]}, "annotation.human.task_description": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [206]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [206]}, "observation.state": {"min": [5.085779293785625, -0.8008747138230689, 0.6999990012105346, 0.0, 0.0, 0.706671953201294, 0.7070897817611694, 0.21749545917715196, -0.04883759152615852, 0.24832397161462239, -0.9975377321243286, -0.16843640804290771, -0.13956579566001892, 0.0001192916533909738, 0.020552516002336613, -0.03989351311859688], "max": [5.08638223499925, -0.8005864231844664, 0.7005479979590665, 0.0, 0.0, 0.7071236968040466, 0.7075413465499878, 0.4053862808216696, 0.3270060400299135, 0.5957590216153623, 0.9982206225395203, 0.17023992538452148, 0.1351863592863083, 0.0601641982793808, 0.04072045955183636, -0.020514044385288085], "mean": [5.086078561951385, -0.800665168414722, 0.7001801331426365, 0.0, 0.0, 0.7068896927301166, 0.7073237476418319, 0.31509019667202925, 0.1350322007936997, 0.3336312479579438, -0.14253029169388187, 0.00943261171573574, -0.055183693248376214, 0.01877929403481087, 0.03774973071890703, -0.03725679421332154], "std": [0.00022938386488333473, 7.851072393813685e-05, 0.00017055805744532607, 0.0, 0.0, 0.00017097218673597155, 0.00017089421496526103, 0.06562838469508052, 0.10668122719513257, 0.08584754539624626, 0.9799061948933111, 0.1025928755361056, 0.07263522714839285, 0.013450371502689183, 0.003309862865804016, 0.0032270106769220898], "count": [206]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9178571428571429, -1.0, -0.7857142857142857, -0.14714285714285713, -0.13857142857142857, -0.2285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7571428571428572, 0.9714285714285714, 1.0, 0.09857142857142857, 0.2014285714285714, 0.20714285714285718, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.011702496532593625, -0.005114424410540833, -0.08587031900138696, 0.0003120665742024964, 0.011629680998613036, -0.011934812760055466, -0.46601941747572817], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2852101164766546, 0.42309920547063645, 0.37134592850568665, 0.03298911713948236, 0.05129267349463802, 0.06495911221558628, 0.8847744924756737], "count": [206]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08252426981925964], "std": [0.2751617729663849], "count": [206]}, "next.done": {"min": [false], "max": [true], "mean": [0.0048543689320388345], "std": [0.06950398574405997], "count": [206]}, "timestamp": {"min": [0.0], "max": [10.25], "mean": [5.125], "std": [2.9733188527300602], "count": [206]}, "frame_index": {"min": [0], "max": [205], "mean": [102.5], "std": [59.466377054601196], "count": [206]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [206]}, "index": {"min": [33222], "max": [33427], "mean": [33324.5], "std": [59.466377054601196], "count": [206]}, "task_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [206]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08627450980392157]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[0.8784313725490196]], [[0.8392156862745098]]], "mean": [[[0.6438440180759804]], [[0.48603919773475796]], [[0.39795268578622855]]], "std": [[[0.17252884037324687]], [[0.16082151692721408]], [[0.1609590722824076]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6607969988654642]], [[0.5862245944154029]], [[0.5158191420611213]]], "std": [[[0.20097340540692143]], [[0.19763949189025806]], [[0.2188666375174512]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6656349349676394]], [[0.5987410278320313]], [[0.5393330586751303]]], "std": [[[0.21105977618643482]], [[0.20297225726586396]], [[0.2141785878909579]]], "count": [100]}, "annotation.human.task_description": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [439]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [439]}, "observation.state": {"min": [3.2926657847719825, -0.8041897133035092, 0.699998416050133, 0.0, 0.0, 0.706994354724884, 0.7069830894470215, 0.24604277288714693, -0.08295958824160277, 0.2615229990902893, -0.9985596537590027, -0.08669911324977875, -0.16910356283187866, 0.02918998897075653, 0.020580247726178166, -0.03995004809731559], "max": [3.2928268561315024, -0.8040035818418626, 0.7003463635992052, 0.0, 0.0, 0.7072305083274841, 0.7072192430496216, 0.44324266379026056, 0.38520825143829907, 0.6136666498733037, -0.9844820499420166, 0.0006281062960624695, -0.033115312457084656, 0.05065712705254555, 0.040431298142199985, -0.020486312343070006], "mean": [3.2927310434804453, -0.8041043007795173, 0.7001782810232946, 0.0, 0.0, 0.7071366145833479, 0.7070769250800235, 0.3442799471294467, 0.09738219764024038, 0.34894547888545885, -0.9921719254013618, -0.03638363642308327, -0.1014866800321126, 0.03891358972614067, 0.037594583750472525, -0.037215820343807764], "std": [4.1006589007383354e-05, 6.668062422550987e-05, 0.00015092058030329391, 0.0, 0.0, 5.2717084474500864e-05, 5.269518261726978e-05, 0.06149466013572256, 0.1577399459367226, 0.07829398651040889, 0.004453546087579622, 0.030175218617289733, 0.03880178362819944, 0.004618645229806021, 0.003245613305891944, 0.003669181961960058], "count": [439]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7714285714285714, -0.8142857142857143, -0.5857142857142857, -0.05428571428571429, -0.1142857142857143, -0.045714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5642857142857142, 0.7714285714285714, 0.6571428571428571, 0.03428571428571429, 0.09714285714285714, 0.10571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.005564594858444505, -0.004441913439635495, -0.04147412951513178, -0.0008265538561666123, 0.0036381386267491066, 0.001633582818093069, -0.38496583143507973], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21575684600018705, 0.29076267817231516, 0.24002641481334575, 0.0056918852858163374, 0.025735319949528365, 0.01306498652474034, 0.9229308254834138], "count": [439]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0728929415345192], "std": [0.25996068120002747], "count": [439]}, "next.done": {"min": [false], "max": [true], "mean": [0.002277904328018223], "std": [0.0476730057778049], "count": [439]}, "timestamp": {"min": [0.0], "max": [21.9], "mean": [10.950000000000001], "std": [6.336402764976355], "count": [439]}, "frame_index": {"min": [0], "max": [438], "mean": [219.0], "std": [126.7280552995271], "count": [439]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [439]}, "index": {"min": [33428], "max": [33866], "mean": [33647.0], "std": [126.7280552995271], "count": [439]}, "task_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [439]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6965129675771676]], [[0.6323242002000995]], [[0.5955605444814644]]], "std": [[[0.20224675327600256]], [[0.2674905084499154]], [[0.31010789449364223]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6446289720722274]], [[0.6146294938629748]], [[0.5868263232661228]]], "std": [[[0.20350658204256838]], [[0.19741353322415633]], [[0.19869238827174213]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.03529411764705882]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6547352923224954]], [[0.6223541373458563]], [[0.5918997976265702]]], "std": [[[0.17422382814126894]], [[0.1741051566396145]], [[0.18056005139750525]]], "count": [100]}, "annotation.human.task_description": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [256]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [256]}, "observation.state": {"min": [3.1975310749246693, -0.8290404791996758, 0.7000000252555223, 0.0, 0.0, 0.7069515585899353, 0.7070061564445496, 0.24010347084022599, -0.2019130340055879, 0.234491693501519, -0.9902804493904114, -0.1658935844898224, -0.2593916356563568, 0.00025481966440565884, 0.019987105360362623, -0.039957996397139726], "max": [3.197764434150127, -0.828848333527024, 0.7001890307605945, 0.0, 0.0, 0.707207441329956, 0.7072619199752808, 0.452152191664975, 0.29482697531504787, 0.6034221737966204, 0.9880598187446594, 0.14482071995735168, 0.27764466404914856, 0.04622955992817879, 0.040174517012631285, -0.01973771139892603], "mean": [3.1976485581949174, -0.8289098509537561, 0.7000750460511911, 0.0, 0.0, 0.7070903177373111, 0.707123214378953, 0.3390664781125372, 0.01814606374854836, 0.3334095585111149, -0.06362142763100564, -0.025345510453917086, -0.01042101567145437, 0.019218214856095983, 0.03558734598779085, -0.03432780362398325], "std": [5.118558641937496e-05, 6.242645709727706e-05, 6.328947649118623e-05, 0.0, 0.0, 5.033151393473184e-05, 5.03438451361796e-05, 0.059770572333242684, 0.13651991419385204, 0.08435396479952997, 0.9762542051242211, 0.06537268067968365, 0.19305808833480187, 0.014652475024689752, 0.00709448989578324, 0.007246837775733748], "count": [256]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5571428571428572, -0.9178571428571429, -0.625, -0.08428571428571428, -0.06285714285714286, -0.14142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4928571428571429, 1.0, 0.7571428571428572, 0.11285714285714285, 0.12285714285714287, 0.09857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.06121651785714287, 0.07407924107142855, -0.07218191964285706, 0.006104910714285715, -4.4642857142854886e-05, -0.00931919642857143, -0.4140625], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.229447233235455, 0.40240979460757115, 0.3316526096872848, 0.027077408666055146, 0.030449668606403524, 0.049739745136993314, 0.9102484529477378], "count": [256]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0625], "std": [0.24206146597862244], "count": [256]}, "next.done": {"min": [false], "max": [true], "mean": [0.00390625], "std": [0.06237781024480981], "count": [256]}, "timestamp": {"min": [0.0], "max": [12.75], "mean": [6.375], "std": [3.6950135317749515], "count": [256]}, "frame_index": {"min": [0], "max": [255], "mean": [127.5], "std": [73.90027063549903], "count": [256]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [256]}, "index": {"min": [33867], "max": [34122], "mean": [33994.5], "std": [73.90027063549903], "count": [256]}, "task_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [256]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08627450980392157]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6663448710450088]], [[0.5536036450935132]], [[0.47470543302104223]]], "std": [[[0.17605437197607574]], [[0.18303546047779828]], [[0.17245173323967466]]], "count": [110]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.06274509803921569]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6671762112160206]], [[0.6022848429144385]], [[0.5415403668680718]]], "std": [[[0.15641582357372988]], [[0.1591054676018113]], [[0.15974405763831803]]], "count": [110]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.06666666666666667]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6444254606250348]], [[0.5832403287020597]], [[0.5246477803656975]]], "std": [[[0.18338862634583647]], [[0.18181009354647232]], [[0.1812395906443747]]], "count": [110]}, "annotation.human.task_description": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [533]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [533]}, "observation.state": {"min": [4.023997191329371, -4.660524381141932, 0.6999982323693221, 0.0, 0.0, -1.0, 2.3325154074882448e-07, 0.2407757801859276, -0.257461070446694, 0.2440740999642027, -0.9998319745063782, -0.05929678678512573, -0.12972776591777802, 0.00017360174388159066, 0.02055315603262618, -0.039953330434238495], "max": [4.024481927682812, -4.660235692065073, 0.7006528644984827, 0.0, 0.0, 1.0, 0.00032432193984277546, 0.46480958722910026, 0.19081365172194076, 0.5958457101872182, 0.9998571276664734, 0.34239065647125244, 0.11792107671499252, 0.11213739961385727, 0.04000479226902333, -0.020513403524043863], "mean": [4.024271466294799, -4.660383964415596, 0.7003722612483383, 0.0, 0.0, -0.5684803001876173, 6.684608120890328e-05, 0.3412616068915929, -0.13528960337945944, 0.32077132307196965, -0.8337072747956968, 0.03336324862870222, -0.003241274281431996, 0.03465244971112742, 0.03544757720741975, -0.03573230379251255], "std": [0.00019570155776357413, 6.927697665354446e-05, 0.00029551714351690807, 0.0, 0.0, 0.8226968750995679, 8.03200768195561e-05, 0.061517815565684544, 0.15099692494863173, 0.0693366995877426, 0.5362566152825392, 0.10311650874559655, 0.060512051523329266, 0.027237715657988774, 0.005231741193918147, 0.004975127816763194], "count": [533]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8214285714285715, -0.7071428571428572, -0.5928571428571429, -0.04285714285714286, -0.1657142857142857, -0.19714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.807142857142857, 0.9214285714285714, 0.8142857142857143, 0.08285714285714285, 0.1742857142857143, 0.15714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.018279281693915832, 0.025368533905119256, -0.03461538461538462, 0.0008898418654516208, 0.005408737603859559, -0.010812114714553742, -0.2570356472795497], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20140301916158196, 0.28174131154206455, 0.22359596360147002, 0.015075107840547556, 0.05454745184040423, 0.04705618725365165, 0.9664019226116969], "count": [533]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04127579554915428], "std": [0.1989273577928543], "count": [533]}, "next.done": {"min": [false], "max": [true], "mean": [0.001876172607879925], "std": [0.04327415607756396], "count": [533]}, "timestamp": {"min": [0.0], "max": [26.6], "mean": [13.299999999999999], "std": [7.693178796830345], "count": [533]}, "frame_index": {"min": [0], "max": [532], "mean": [266.0], "std": [153.8635759366069], "count": [533]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [533]}, "index": {"min": [34123], "max": [34655], "mean": [34389.0], "std": [153.8635759366069], "count": [533]}, "task_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [533]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.047058823529411764]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.575967908672258]], [[0.46164808385512407]], [[0.37204388547411155]]], "std": [[[0.16914155592915256]], [[0.18211911046897564]], [[0.21479345151219947]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5591540377747779]], [[0.4840746992522595]], [[0.42943882542030487]]], "std": [[[0.18425649578600928]], [[0.23981152504637204]], [[0.26526272596849576]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5931737730736826]], [[0.5291758470722273]], [[0.4789969368728937]]], "std": [[[0.17615300185229488]], [[0.23607973136210603]], [[0.2618989476033451]]], "count": [100]}, "annotation.human.task_description": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [265]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [265]}, "observation.state": {"min": [2.218097036381234, -1.8027906015699113, 0.6999991820929063, 0.0, 0.0, -0.7071125507354736, 0.7071009874343872, 0.25145794443373126, -0.06404748689363693, 0.22962433978810404, -0.9975033402442932, -0.08166943490505219, -0.2693481147289276, 0.0049829259514808655, 0.0019652809635764762, -0.04069456190836468], "max": [2.2185280817776056, -1.8020052891720248, 0.7010448817965056, 0.0, 0.0, -0.7067283391952515, 0.7074849605560303, 0.5572929498873249, 0.31358986844854586, 0.5986007773398434, -0.943751335144043, 0.10715407133102417, -0.05283306911587715, 0.1590692102909088, 0.040402960162849624, -0.0019178602958252952], "mean": [2.2183205311859173, -1.802289083827466, 0.7006585621614554, 0.0, 0.0, -0.7069093470303518, 0.7073041193890122, 0.46777290483915446, 0.08299206969052458, 0.33006860194690935, -0.9885316421400826, -0.018654659221757134, -0.1344361975648493, 0.030928326171453833, 0.03284248300416268, -0.03268752557730282], "std": [0.0001648040584043872, 0.0003090733626911837, 0.0004157144471036026, 0.0, 0.0, 0.00014237044484804494, 0.00014232081913952374, 0.08705402186890764, 0.13884139663041753, 0.08486289776889015, 0.006448638301069743, 0.038760104561030476, 0.03547656628853953, 0.025000573136824814, 0.011660287621952942, 0.01165709304325774], "count": [265]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5607142857142857, -0.8535714285714285, -0.6428571428571428, -0.05142857142857143, -0.33285714285714285, -0.07142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6107142857142858, 0.8464285714285714, 0.7285714285714285, 0.18428571428571427, 0.08571428571428572, 0.03142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.06986522911051199, 0.04411051212937999, -0.06222371967655, 0.011956873315363877, -0.012150943396226417, -0.008161725067385444, -0.5320754716981132], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2250849348355987, 0.3264374893548579, 0.29921430486910405, 0.04268606992878453, 0.059153588457606564, 0.022223044749378584, 0.8466969306766342], "count": [265]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09056603908538818], "std": [0.2869910001754761], "count": [265]}, "next.done": {"min": [false], "max": [true], "mean": [0.0037735849056603774], "std": [0.061313497393478945], "count": [265]}, "timestamp": {"min": [0.0], "max": [13.2], "mean": [6.6], "std": [3.8249182997810554], "count": [265]}, "frame_index": {"min": [0], "max": [264], "mean": [132.0], "std": [76.49836599562111], "count": [265]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [265]}, "index": {"min": [34656], "max": [34920], "mean": [34788.0], "std": [76.49836599562111], "count": [265]}, "task_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [265]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5621897182090609]], [[0.5012635898964077]], [[0.45791915175494025]]], "std": [[[0.2078126947183477]], [[0.23309220324913524]], [[0.2605776768200301]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46778687540690106]], [[0.46781150069891236]], [[0.47209569055893846]]], "std": [[[0.2899552175134338]], [[0.27810595427396445]], [[0.2619042727005131]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44108675728592217]], [[0.44276948577282477]], [[0.4505852266199449]]], "std": [[[0.2769355452512023]], [[0.26516293409443775]], [[0.24959245606769326]]], "count": [100]}, "annotation.human.task_description": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [436]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [436]}, "observation.state": {"min": [5.243840535801983, -0.9455023990719573, 0.6999992307239776, 0.0, 0.0, 0.7070086598396301, 0.7071427702903748, 0.08650441168636136, -0.20570526753548446, 0.23412837247843288, -0.9984955191612244, -0.12616977095603943, -0.1799653321504593, 0.0006045030313543975, 0.015290698457988436, -0.03999728341175466], "max": [5.2440292533571595, -0.9454125665448969, 0.7032482757445998, 0.0, 0.0, 0.7070707678794861, 0.7072048783302307, 0.363023985065559, 0.4152014437173097, 0.6096754568364188, 0.9990224242210388, 0.1231057345867157, 0.17978133261203766, 0.07317393273115158, 0.04086322238575559, -0.014367103168760316], "mean": [5.243896487469452, -0.9454227042052803, 0.7014404465001275, 0.0, 0.0, 0.707050136059796, 0.7071633795532611, 0.2575401790101989, 0.08545047253749052, 0.335171781347807, -0.6728566027835968, 0.013168182941751743, -0.053304544502763514, 0.028282674791242225, 0.03653124317252152, -0.035259931089082014], "std": [1.7431562705602088e-05, 1.3097615930231396e-05, 0.0010141996024685695, 0.0, 0.0, 6.886828067691624e-06, 6.903173513151614e-06, 0.06787588471443359, 0.16827571232765207, 0.08754311914656314, 0.7278561525136739, 0.07788978911440339, 0.08550234516709622, 0.01724105540937786, 0.005233495045474241, 0.006555629062279501], "count": [436]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6357142857142857, -0.6142857142857143, -0.525, -0.09428571428571429, -0.19, -0.06285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5535714285714286, 0.6035714285714285, 0.8285714285714285, 0.09, 0.15571428571428572, 0.14285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.014998361730013102, 0.06666120576671036, -0.05167103538663162, -0.0007142857142857143, 0.0024410222804718273, -0.00031454783748361814, -0.37155963302752293], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21411387550178465, 0.2518291717520726, 0.2840461908454818, 0.02234780224359637, 0.051415737025336264, 0.03643575741739813, 0.9284090903822797], "count": [436]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06651376187801361], "std": [0.24917802214622498], "count": [436]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022935779816513763], "std": [0.047836361501408735], "count": [436]}, "timestamp": {"min": [0.0], "max": [21.75], "mean": [10.875], "std": [6.293101381671839], "count": [436]}, "frame_index": {"min": [0], "max": [435], "mean": [217.5], "std": [125.86202763343677], "count": [436]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [436]}, "index": {"min": [34921], "max": [35356], "mean": [35138.5], "std": [125.86202763343677], "count": [436]}, "task_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [436]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5768476993336397]], [[0.5488281740674785]], [[0.5291132285922182]]], "std": [[[0.213846800994775]], [[0.22070921366510188]], [[0.23471785439479395]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46533256919711247]], [[0.460476988549326]], [[0.4570212994743796]]], "std": [[[0.20882045374219452]], [[0.20757644939076236]], [[0.20879262354045844]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42631937842275586]], [[0.42319949400658696]], [[0.4201268113080193]]], "std": [[[0.22478762757148965]], [[0.2209395244058892]], [[0.21946629544682647]]], "count": [100]}, "annotation.human.task_description": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [251]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [251]}, "observation.state": {"min": [5.442295348192951, -1.2472207031676434, 0.6999976947334993, 0.0, 0.0, -8.110298949759454e-05, 0.9999997615814209, 0.22416993787278638, -0.36964808940226757, 0.23667088455622853, -0.993498682975769, -0.1244603842496872, -0.4155556857585907, 9.190805576508865e-05, 0.02054854335318355, -0.04051233186110529], "max": [5.442398482689629, -1.246631974681205, 0.7003628569510851, 0.0, 0.0, 0.0006529929814860225, 1.0, 0.4916295205255272, 0.08753129991499375, 0.5879322077096046, 0.9959536790847778, 0.1980348527431488, 0.39532873034477234, 0.10993804782629013, 0.039993213256765185, -0.020518015664561295], "mean": [5.442360555931836, -1.2468892585143834, 0.7001949161983244, 0.0, 0.0, 0.0002493981841918316, 0.9999999710288181, 0.34823027336265666, -0.09030157169308438, 0.346577711604005, 0.1829158894094338, 0.06381966218174216, 0.027920168501684866, 0.04402926160685047, 0.03548326829678297, -0.037149313724355135], "std": [3.039476112173338e-05, 0.00018320144036037614, 0.0001152695349493489, 0.0, 0.0, 0.00020771579398991833, 5.435077128056986e-08, 0.07964682638354968, 0.12141243635456131, 0.07485447441296866, 0.9573239154395498, 0.0695496048055353, 0.19310331471247486, 0.03399409317013575, 0.005270230177268662, 0.003665448505646678], "count": [251]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6892857142857142, -0.9785714285714284, -0.7321428571428572, -0.17857142857142858, -0.3942857142857143, -0.16, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5607142857142857, 0.9928571428571428, 0.9285714285714287, 0.2157142857142857, 0.06, 0.2642857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.019436539556061446, -0.12016220830961866, -0.043284006829823564, -0.0005691519635742783, -0.01760956175298805, 0.0007285145133750741, -0.40239043824701193], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23753093357190094, 0.33508819801171363, 0.3874173503432059, 0.0594671134597845, 0.06492155111090032, 0.0774194920350686, 0.915468150842712], "count": [251]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06374502182006836], "std": [0.24429816007614136], "count": [251]}, "next.done": {"min": [false], "max": [true], "mean": [0.00398406374501992], "std": [0.06299357888781631], "count": [251]}, "timestamp": {"min": [0.0], "max": [12.5], "mean": [6.25], "std": [3.6228441865473595], "count": [251]}, "frame_index": {"min": [0], "max": [250], "mean": [125.0], "std": [72.4568837309472], "count": [251]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [251]}, "index": {"min": [35357], "max": [35607], "mean": [35482.0], "std": [72.4568837309472], "count": [251]}, "task_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [251]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6287445050407859]], [[0.5734474409514783]], [[0.4777645365397135]]], "std": [[[0.19280102306433333]], [[0.2275565887937988]], [[0.20218303323471146]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5915925945207184]], [[0.47935968436446846]], [[0.41369565597234986]]], "std": [[[0.1930138790887402]], [[0.23692860399253807]], [[0.2551827869409809]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5760078753303078]], [[0.4687621412090227]], [[0.40822293270335475]]], "std": [[[0.2038433464009559]], [[0.2392636906457801]], [[0.25531664115793035]]], "count": [100]}, "annotation.human.task_description": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [260]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [260]}, "observation.state": {"min": [2.1419022833213113, -2.3255479101438734, 0.700000040246532, 0.0, 0.0, -0.0003683701215777546, 0.9999998807907104, 0.16233605193120137, -0.18082282954481022, 0.24267857683556537, -0.9939645528793335, -0.35374295711517334, -0.1727750450372696, 0.0002619393344502896, 0.020533008422637555, -0.04034917754461673], "max": [2.1420470937752767, -2.3247908559024255, 0.7012817790856876, 0.0, 0.0, 0.0006256050546653569, 1.0, 0.42933102450714866, 0.35967991069677896, 0.6136925003730389, 0.9982216954231262, 0.3557499349117279, 0.14995746314525604, 0.11723728477954865, 0.039884949219548535, -0.020533550966801085], "mean": [2.141986379386255, -2.325383393766705, 0.7006636401159883, 0.0, 0.0, -0.00015300863971641723, 0.9999999958735246, 0.30532175513275733, 0.05391057286971625, 0.3312819068750248, 0.4442888058148898, -0.10616752191518362, -0.04580955223802728, 0.044356254576324805, 0.035916176175480485, -0.036044168053947896], "std": [3.4112897170717866e-05, 0.00017638522965122275, 0.00037202887755765756, 0.0, 0.0, 0.0002224618233826376, 2.1791888453990103e-08, 0.07774843014013455, 0.16241045208152224, 0.08040764203564736, 0.8669357912020971, 0.1631543107720129, 0.08870815245709078, 0.03469559769949313, 0.004452458944966125, 0.004438453756592214], "count": [260]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7785714285714286, -0.8892857142857143, -1.0, -0.11714285714285716, -0.14857142857142858, -0.34285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9464285714285714, 1.0, 0.9285714285714287, 0.2, 0.21, 0.2057142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04703296703296701, -0.04763736263736263, -0.10509615384615388, 0.013648351648351655, 0.02142857142857144, -0.009857142857142853, -0.3384615384615385], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3545610355856392, 0.4123222355767054, 0.3960351980784979, 0.046228584176114966, 0.05307129176324199, 0.09206242336544457, 0.9409802266691095], "count": [260]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10384615510702133], "std": [0.30506086349487305], "count": [260]}, "next.done": {"min": [false], "max": [true], "mean": [0.0038461538461538464], "std": [0.061897988228581086], "count": [260]}, "timestamp": {"min": [0.0], "max": [12.95], "mean": [6.475], "std": [3.7527489924054342], "count": [260]}, "frame_index": {"min": [0], "max": [259], "mean": [129.5], "std": [75.05497984810869], "count": [260]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [260]}, "index": {"min": [35608], "max": [35867], "mean": [35737.5], "std": [75.05497984810869], "count": [260]}, "task_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [260]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6693320497647014]], [[0.5793426056084199]], [[0.5014630632646173]]], "std": [[[0.16882461666989268]], [[0.1789764531213776]], [[0.18271896265753543]]], "count": [102]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.07058823529411765]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6347722905271561]], [[0.5311010751573914]], [[0.4883004798287843]]], "std": [[[0.16554028488960157]], [[0.22303077474542352]], [[0.22085515867264818]]], "count": [102]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.643075580882916]], [[0.5385346943211069]], [[0.49473869795984415]]], "std": [[[0.16281693036189968]], [[0.22425500189207778]], [[0.2265385089275377]]], "count": [102]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [481]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [481]}, "observation.state": {"min": [2.9397362858541825, -1.5240093159787993, 0.6999992454435102, 0.0, 0.0, -0.7071266174316406, 0.7070868611335754, 0.13495108824213675, -0.30594718642585184, 0.23124814184748188, -0.9989099502563477, -0.053477585315704346, -0.1463811844587326, 0.0001215361335198395, 0.02000990619725784, -0.040038427796445286], "max": [2.939793990818925, -1.5239502360020385, 0.7019928509592782, 0.0, 0.0, -0.7070897221565247, 0.707123875617981, 0.47582851607948085, 0.15965283609449088, 0.5871884791761811, 0.9996799230575562, 0.05099329352378845, 0.1658838987350464, 0.0325784757733345, 0.04020178213447378, -0.020542958703454493], "mean": [2.939768726205512, -1.5240026952893648, 0.7007945251371211, 0.0, 0.0, -0.7071061797300644, 0.7071073339039967, 0.3348357471009975, -0.03534725344000212, 0.33454200533574185, 0.6640050966377814, 0.015093230477799497, 0.056520885334828415, 0.013241975122283764, 0.03715131700079603, -0.03528264161738856], "std": [6.102635469360949e-06, 8.481554912278961e-06, 0.0005983390247539153, 0.0, 0.0, 3.2963482134169706e-06, 3.2984963784459006e-06, 0.1127039123107927, 0.14822231744053707, 0.08217182410492783, 0.7402678214795094, 0.02972828216825031, 0.08102947386869604, 0.00731244485521078, 0.005397258346650599, 0.006372766708797197], "count": [481]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5535714285714286, -0.5464285714285715, -0.45714285714285713, -0.03142857142857143, -0.20428571428571432, -0.06428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5428571428571429, 0.6392857142857143, 0.6214285714285714, 0.025714285714285714, 0.14714285714285713, 0.03857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.027064152064152056, 0.015807840807840794, -0.06523611523611528, 0.0005078705078705077, -0.004517374517374516, -0.001300861300861301, -0.38461538461538464], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21543704453487725, 0.23103827990121378, 0.25289196341040093, 0.00587832843732431, 0.03750669117903845, 0.00916265026114364, 0.923076923076923], "count": [481]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0665280669927597], "std": [0.2492028921842575], "count": [481]}, "next.done": {"min": [false], "max": [true], "mean": [0.002079002079002079], "std": [0.04554865343078305], "count": [481]}, "timestamp": {"min": [0.0], "max": [24.0], "mean": [12.0], "std": [6.942621983083912], "count": [481]}, "frame_index": {"min": [0], "max": [480], "mean": [240.0], "std": [138.85243966167826], "count": [481]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [481]}, "index": {"min": [35868], "max": [36348], "mean": [36108.0], "std": [138.85243966167826], "count": [481]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [481]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6501642868939568]], [[0.5607200730267693]], [[0.44325285309436274]]], "std": [[[0.15930906962503197]], [[0.1593485502799094]], [[0.18766469749739276]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.054901960784313725]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49983079259535845]], [[0.4832485136144301]], [[0.4562797498516008]]], "std": [[[0.21390170179270188]], [[0.20593047944740364]], [[0.21228785180623896]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4879028757132736]], [[0.4840641814587163]], [[0.45986093139648443]]], "std": [[[0.20477909236175393]], [[0.19919797400040193]], [[0.21434243404513828]]], "count": [100]}, "annotation.human.task_description": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [381]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [381]}, "observation.state": {"min": [2.3233508134554954, -0.8218442994312692, 0.6999982264889333, 0.0, 0.0, 0.7067649364471436, 0.7070249915122986, 0.20410059779849332, -0.21082427238407986, 0.23127373087280656, -0.9971545934677124, -0.0745154321193695, -0.23616190254688263, 0.0009006086620502174, 0.019051302413132184, -0.04078249239450726], "max": [2.3237024089950444, -0.8209853522028868, 0.7012131893530904, 0.0, 0.0, 0.707188606262207, 0.7074484825134277, 0.4079802461042531, 0.26716370884310603, 0.6108259174564656, 0.9976314306259155, 0.07851198315620422, 0.21475204825401306, 0.05121135711669922, 0.039982734314105484, -0.017844813346321303], "mean": [2.3234531927993047, -0.8213030425678112, 0.7004071617001411, 0.0, 0.0, 0.7069463861270213, 0.7072670988523428, 0.3100761100374005, 0.03206199518511439, 0.31902652538179677, -0.042840707802709946, -0.009924533994491957, -0.006324542686343193, 0.018303765166273432, 0.031537654282394224, -0.032079415085482586], "std": [4.477043774259815e-05, 0.00024759673040323176, 0.0003252259141623394, 0.0, 0.0, 0.0001339471460990667, 0.0001339131889946213, 0.05892711537608615, 0.13716381370307187, 0.08208329587199313, 0.9882122285418216, 0.05645945424404926, 0.13328345611534062, 0.01325100370914909, 0.008843452104220401, 0.009035104622711908], "count": [381]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5571428571428572, -0.8, -0.7142857142857143, -0.08285714285714285, -0.1657142857142857, -0.10571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6071428571428572, 0.75, 0.6428571428571428, 0.08857142857142856, 0.18, 0.07142857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.020528683914510706, 0.059730033745781806, -0.08258342707161603, -0.0005399325084364447, -0.003044619422572177, 0.0014773153355830523, -0.07611548556430446], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16664682755506358, 0.24998205938841628, 0.25749148359315266, 0.0171643370620585, 0.049577001137979144, 0.018616304759112988, 0.9970990085529697], "count": [381]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03937007859349251], "std": [0.19447383284568787], "count": [381]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026246719160104987], "std": [0.05116427477590007], "count": [381]}, "timestamp": {"min": [0.0], "max": [19.0], "mean": [9.5], "std": [5.499242372060597], "count": [381]}, "frame_index": {"min": [0], "max": [380], "mean": [190.0], "std": [109.98484744121194], "count": [381]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [381]}, "index": {"min": [36349], "max": [36729], "mean": [36539.0], "std": [109.98484744121194], "count": [381]}, "task_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [381]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5498951613482307]], [[0.4684884128944547]], [[0.36730261170630363]]], "std": [[[0.216975777001006]], [[0.24810078840540992]], [[0.2636971634626355]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5423074622060738]], [[0.4950862917432598]], [[0.4676804839489507]]], "std": [[[0.20958703252586172]], [[0.22861834522941224]], [[0.2371935217688055]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5421135594985065]], [[0.49772724884631586]], [[0.4730130992216222]]], "std": [[[0.2031663659675541]], [[0.21986815652820407]], [[0.22446233883930378]]], "count": [100]}, "annotation.human.task_description": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [227]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [227]}, "observation.state": {"min": [2.2379008039063484, -4.287993657383059, 0.699999557293886, 0.0, 0.0, -0.00039662831113673747, 1.0, 0.2211388073911218, 2.6586751151747023e-05, 0.2490473209541898, -0.9945756793022156, -0.03645507991313934, -0.27299821376800537, 9.002773003885522e-05, 0.0011809420329685159, -0.03972824504355416], "max": [2.238289181650175, -4.287386639226323, 0.7005574336449734, 0.0, 0.0, -7.49733644056505e-08, 1.0, 0.39054770586580023, 0.3296519239326763, 0.5993029096832193, 0.9897164702415466, 0.1855427622795105, 0.14143002033233643, 0.17154176533222198, 0.040583083983202047, -0.0003838902483672454], "mean": [2.238026481140419, -4.287767143490694, 0.7003891918839722, 0.0, 0.0, -0.00018453243015662237, 1.0, 0.31037471668413685, 0.17889826520615126, 0.32873392937603857, -0.9495318791939824, 0.05465934934332507, -0.16632931951909338, 0.07571364375691485, 0.03202836533372727, -0.03112890690731075], "std": [0.00014898922877505837, 0.00020771815876781825, 0.00022523703622778505, 0.0, 0.0, 9.452877465298241e-05, 0.0, 0.06089266698617958, 0.08506774386214194, 0.08073175256165276, 0.22507253580364256, 0.06983585326784807, 0.07315305349312143, 0.03342900462037229, 0.01058585967115647, 0.010949716758288744], "count": [227]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.23571428571428574, -0.775, -0.6928571428571428, -0.04857142857142857, -0.1142857142857143, -0.13714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.75, 0.9071428571428573, 1.0, 0.11714285714285716, 0.055714285714285716, 0.01, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0554751415984896, 0.11228760226557578, -0.07081497797356832, 0.011567023285084958, -0.003914411579609817, -0.015594713656387668, -0.23348017621145375], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16538345426271864, 0.3577000017958582, 0.3315708361504035, 0.030622400917205986, 0.026715637756048093, 0.03133939658643386, 0.972361562031464], "count": [227]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07048457860946655], "std": [0.25596189498901367], "count": [227]}, "next.done": {"min": [false], "max": [true], "mean": [0.004405286343612335], "std": [0.06622597523512294], "count": [227]}, "timestamp": {"min": [0.0], "max": [11.3], "mean": [5.6499999999999995], "std": [3.2764309850811753], "count": [227]}, "frame_index": {"min": [0], "max": [226], "mean": [113.0], "std": [65.5286197016235], "count": [227]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [227]}, "index": {"min": [36730], "max": [36956], "mean": [36843.0], "std": [65.5286197016235], "count": [227]}, "task_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [227]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3301306032666973]], [[0.29530848185221353]], [[0.2428334966921339]]], "std": [[[0.2312254215467331]], [[0.21320072160813439]], [[0.15391442975544625]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4349373827167586]], [[0.35364929019703584]], [[0.29917658188763785]]], "std": [[[0.22417846090451587]], [[0.20879815507752703]], [[0.22271376691200917]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43747945568608304]], [[0.35289065671434594]], [[0.297393616919424]]], "std": [[[0.22492545451751314]], [[0.21133244684171573]], [[0.2265946854879807]]], "count": [100]}, "annotation.human.task_description": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [253]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [253]}, "observation.state": {"min": [6.116146413714876, -0.8279801722458544, 0.6999975223523298, 0.0, 0.0, 0.7069803476333618, 0.7068473696708679, 0.21251350528164603, -0.2571852094461242, 0.2433418423060677, -0.9933146238327026, -0.13814057409763336, -0.24426305294036865, 5.184093242860399e-05, 0.020541661738860833, -0.03994953605054223], "max": [6.116493773943558, -0.8279145474484302, 0.7000928870022762, 0.0, 0.0, 0.7073661088943481, 0.7072332501411438, 0.35972257014397235, 0.18163085397636358, 0.5918402976152184, 0.9923081398010254, 0.04616767168045044, 0.3901042640209198, 0.05981963500380516, 0.040001048303408046, -0.020524898551117676], "mean": [6.1163498434328005, -0.8279499275777439, 0.7000221476983681, 0.0, 0.0, 0.7071343448322281, 0.7070791839139735, 0.30238218033588543, -0.021331034082946777, 0.33490570025945327, -0.5765202365845088, -0.050845207550780105, -0.07045894734590892, 0.02630059725512406, 0.03457380866961943, -0.034838393203390675], "std": [8.147782256588199e-05, 1.206817710564682e-05, 3.128026537880683e-05, 0.0, 0.0, 7.860124269880933e-05, 7.860720252706608e-05, 0.045017898119333426, 0.10883896436339315, 0.08368394839816161, 0.7885359005551029, 0.042303548936050546, 0.18850499800404752, 0.01644406120661553, 0.006205068717707086, 0.00615290376675318], "count": [253]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9214285714285714, -0.5607142857142857, -0.05857142857142858, -0.32285714285714284, -0.11571428571428573, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6142857142857143, 0.8571428571428572, 0.8357142857142857, 0.047142857142857146, 0.03571428571428571, 0.10857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.013269339356295894, -0.08054771315640878, -0.06542913608131, 0.0009712027103331455, -0.015488424618859397, -0.004680971202710334, -0.4150197628458498], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20653441544625, 0.33185840001867717, 0.31079443555595637, 0.013625946900077736, 0.03953485253201258, 0.0359030171265896, 0.909812396292432], "count": [253]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06324110925197601], "std": [0.2433961033821106], "count": [253]}, "next.done": {"min": [false], "max": [true], "mean": [0.003952569169960474], "std": [0.06274509038097843], "count": [253]}, "timestamp": {"min": [0.0], "max": [12.6], "mean": [6.300000000000001], "std": [3.651711927302043], "count": [253]}, "frame_index": {"min": [0], "max": [252], "mean": [126.0], "std": [73.03423854604085], "count": [253]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [253]}, "index": {"min": [36957], "max": [37209], "mean": [37083.0], "std": [73.03423854604085], "count": [253]}, "task_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [253]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5880606438131893]], [[0.5311783770392923]], [[0.49351339542164524]]], "std": [[[0.22533082934200224]], [[0.25122298803084214]], [[0.2780966807848541]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5626402492149204]], [[0.4783105217428768]], [[0.42420406266754745]]], "std": [[[0.20672101289372516]], [[0.24724114784159307]], [[0.28451076244010287]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5720734701717601]], [[0.4902021771599265]], [[0.4386181670544194]]], "std": [[[0.2025235899683033]], [[0.24522005266719532]], [[0.2834287177975601]]], "count": [100]}, "annotation.human.task_description": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [444]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [444]}, "observation.state": {"min": [0.8859223646922646, -0.7931900198697636, 0.699996367891865, 0.0, 0.0, 0.7061656713485718, 0.7071504592895508, 0.12665818575833054, -0.19097072173044793, 0.24398398069656557, -0.993926465511322, -0.1218356192111969, -0.34471067786216736, 0.00019573299505282193, 0.020561288304048714, -0.040351295092760316], "max": [0.8872142906317776, -0.7930604270381494, 0.7014481515344108, 0.0, 0.0, 0.7070630192756653, 0.7080466747283936, 0.35072009567901097, 0.19606593430379438, 0.5907759669181105, 0.9902430176734924, 0.12334969639778137, 0.3024456799030304, 0.15036770701408386, 0.04076333260147885, -0.02050527213201687], "mean": [0.8867406808826959, -0.7931318651271235, 0.7008060669786867, 0.0, 0.0, 0.7065116020741763, 0.7077013423313966, 0.22643378394857921, -0.016716452698938088, 0.3390440284624263, -0.17998108052992606, 0.009883022221090557, -0.03684436566792093, 0.04982258781200397, 0.037568090775403504, -0.037750309687129516], "std": [0.0004271869872397215, 4.235610523884952e-05, 0.0004833378616514837, 0.0, 0.0, 0.00028907747805233334, 0.0002886839866837152, 0.057702476941107285, 0.14713643853562916, 0.07066890568950412, 0.9564214855738876, 0.06544969597376149, 0.2080834422180674, 0.036672876374724946, 0.005187440752154722, 0.0038464578771050194], "count": [444]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9285714285714287, -1.0, -0.8107142857142857, -0.2485714285714286, -0.28714285714285714, -0.11285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5821428571428572, 0.9857142857142858, 0.9750000000000001, 0.11571428571428573, 0.06571428571428571, 0.11857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.019337194337194323, 0.07243404118404116, -0.1608510296010296, -0.015260617760617762, -0.030228442728442734, -0.006631274131274128, -0.5675675675675675], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20954536301869747, 0.35101564352323106, 0.3278762347961989, 0.06319350387962347, 0.0550952995418565, 0.025732517204404844, 0.8233268222555554], "count": [444]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.036036036908626556], "std": [0.1863798350095749], "count": [444]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022522522522522522], "std": [0.04740442608074141], "count": [444]}, "timestamp": {"min": [0.0], "max": [22.15], "mean": [11.075000000000001], "std": [6.408571733753682], "count": [444]}, "frame_index": {"min": [0], "max": [443], "mean": [221.5], "std": [128.17143467507364], "count": [444]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [444]}, "index": {"min": [37210], "max": [37653], "mean": [37431.5], "std": [128.17143467507364], "count": [444]}, "task_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [444]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.07450980392156863]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6528398599063648]], [[0.5949593571681603]], [[0.5479519886690027]]], "std": [[[0.19674092334913496]], [[0.23095978754231283]], [[0.26354315786517013]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5469408940333945]], [[0.5283308231129366]], [[0.5219430942909391]]], "std": [[[0.24465132863941935]], [[0.25475231562618394]], [[0.25815956938039514]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5121297601438036]], [[0.49561537918390014]], [[0.488642723532284]]], "std": [[[0.24177042537253723]], [[0.24974118204737053]], [[0.2530536833001068]]], "count": [100]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [314]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [314]}, "observation.state": {"min": [0.7897693739753555, -0.7699646785302641, 0.6999804187616127, 0.0, 0.0, -1.0, 0.0, 0.15661157789602298, -0.17374341846211072, 0.23273143155608655, -0.999523401260376, -0.03228263556957245, -0.1981482207775116, 0.006990159396082163, 0.020558578227663125, -0.039893742950069554], "max": [0.7899017453042981, -0.7694771083696502, 0.7002444261114478, 0.0, 0.0, 1.0, 0.00041538846562616527, 0.42842678740525436, 0.15807339670393694, 0.6019664432006828, -0.9794579744338989, 0.04198107123374939, 0.03186938166618347, 0.05153236538171768, 0.04050397167143944, -0.020507980857580158], "mean": [0.7898216564226747, -0.7697688990421225, 0.7000673214054859, 0.0, 0.0, 0.36942675159235666, 0.00011927009756817687, 0.28240912471791946, 0.049053918230155515, 0.33768957253069326, -0.9945220182276076, 0.007102027019355328, -0.08097504846941514, 0.028262444048123374, 0.03522703646009147, -0.035307162791833525], "std": [3.399758772887015e-05, 0.0001596575855332628, 8.235112617925354e-05, 0.0, 0.0, 0.9292598534360084, 0.00014701764552624353, 0.07160154704769334, 0.1046423627000653, 0.07695172138165429, 0.004587360839424161, 0.019102364161624245, 0.05530456400149117, 0.008674948966616797, 0.006619543649108633, 0.0059877556662366865], "count": [314]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9071428571428573, -0.75, -0.03428571428571429, -0.26, -0.08857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9857142857142858, 1.0, 0.7857142857142857, 0.022857142857142857, 0.17714285714285713, 0.045714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.024067333939945385, 0.040036396724294813, -0.057870791628753374, -0.0003821656050955415, 0.003803457688808008, -0.0018289353958143768, -0.3057324840764331], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.30496486024588787, 0.29580866692186536, 0.3220655751591145, 0.004668615926376077, 0.06125036132982918, 0.01492677599114362, 0.9521174550340162], "count": [314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09554140269756317], "std": [0.2939612865447998], "count": [314]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031847133757961785], "std": [0.056343331251446284], "count": [314]}, "timestamp": {"min": [0.0], "max": [15.65], "mean": [7.825], "std": [4.532176629391224], "count": [314]}, "frame_index": {"min": [0], "max": [313], "mean": [156.5], "std": [90.6435325878245], "count": [314]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [314]}, "index": {"min": [37654], "max": [37967], "mean": [37810.5], "std": [90.6435325878245], "count": [314]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [314]}}} +{"episode_index": 103, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48763578858134843]], [[0.34373895918074676]], [[0.2579445421040895]]], "std": [[[0.11629600639066344]], [[0.12817916306015575]], [[0.15479606834145596]]], "count": [141]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5546151333202691]], [[0.4316775206713198]], [[0.3590867393853319]]], "std": [[[0.16272029930446383]], [[0.19593816240368092]], [[0.21277767930266556]]], "count": [141]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5563991444247801]], [[0.4320512389924526]], [[0.35695588079120166]]], "std": [[[0.1570390565414376]], [[0.19122853665905956]], [[0.20727939155907593]]], "count": [141]}, "annotation.human.task_description": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [736]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [736]}, "observation.state": {"min": [2.803179397024833, -6.57734423210931, 0.6999959844787397, 0.0, 0.0, -0.9999580383300781, 0.001591820502653718, 0.003483002592508555, -0.3154665783655344, 0.24454330536954372, -0.9992162585258484, -0.24469894170761108, -0.2673035264015198, 0.004365201108157635, 0.020532703907734526, -0.04008116746594411], "max": [4.634011951658143, -1.7378041293872064, 0.7008046120987507, 0.0, 0.0, 0.9999988079071045, 0.7287262082099915, 0.5723087295052784, 0.04009868672671635, 0.6172146838139368, 0.9904029369354248, 0.05224236845970154, 0.2894224524497986, 0.12978807091712952, 0.04001103310666207, -0.020533856318454908], "mean": [3.2670974794125054, -2.8504612245835466, 0.7001751820623209, 0.0, 0.0, -0.282723449251574, 0.6407479467847936, 0.23763105319759995, -0.04739727338917195, 0.47691197782268135, -0.046920155458476234, -0.062073895727972624, 0.13594419529153642, 0.053743956852248746, 0.037871647403479015, -0.038156598101580806], "std": [0.680131045499319, 1.4589231265959142, 0.00026760876283040243, 0.0, 0.0, 0.6898843445322085, 0.1832187543078397, 0.2354566327808852, 0.09153819469207362, 0.1440514626836134, 0.9724201742911512, 0.04505322125051521, 0.15677929098496524, 0.019119623553285718, 0.0040190950927336605, 0.00372086467690308], "count": [736]}, "action": {"min": [-0.8357142857142857, -1.0, -0.10714285714285715, 0.0, -1.0, -0.9267857142857143, -0.40178571428571436, -0.5517857142857143, -0.08357142857142857, -0.2057142857142857, -0.11785714285714285, -1.0], "max": [1.0, 0.0, 0.5249999999999999, 0.0, 1.0, 0.8464285714285713, 0.36428571428571427, 1.0, 0.21214285714285713, 0.2571428571428572, 0.22071428571428572, 1.0], "mean": [0.24159307065217392, -0.17993982919254659, 0.08489906832298132, 0.0, -0.15217391304347827, 0.030163043478260883, -0.02943517080745344, -0.0301484860248447, 0.0022564052795031055, 0.006480978260869561, 0.006763392857142858, -0.6875], "std": [0.3899799809564054, 0.2713366124783449, 0.15540431144880926, 0.0, 0.9883537323190811, 0.21373395685267166, 0.10043904830434792, 0.22046146025678778, 0.028147332906017165, 0.04559770805898038, 0.03475785805424004, 0.7261843774138906], "count": [736]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029891304671764374], "std": [0.17028744518756866], "count": [736]}, "next.done": {"min": [false], "max": [true], "mean": [0.001358695652173913], "std": [0.03683543943403793], "count": [736]}, "timestamp": {"min": [0.0], "max": [36.75], "mean": [18.374999999999996], "std": [10.623235147543332], "count": [736]}, "frame_index": {"min": [0], "max": [735], "mean": [367.5], "std": [212.46470295086664], "count": [736]}, "episode_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [736]}, "index": {"min": [37968], "max": [38703], "mean": [38335.5], "std": [212.46470295086664], "count": [736]}, "task_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [736]}}} +{"episode_index": 104, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.629463929419424]], [[0.5767045234231387]], [[0.542517168232039]]], "std": [[[0.22997320848385683]], [[0.28228828612332724]], [[0.32363807364803177]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7249908447265625]], [[0.6915042311724494]], [[0.6537841300216376]]], "std": [[[0.2175801583191154]], [[0.2135934282646128]], [[0.21614343449372417]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6869104614257813]], [[0.6547594197591146]], [[0.620158790139591]]], "std": [[[0.254638500173661]], [[0.251607747006866]], [[0.2512635096609574]]], "count": [100]}, "annotation.human.task_description": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [269]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [269]}, "observation.state": {"min": [3.432404122019875, -4.989258107733902, 0.699999306554115, 0.0, 0.0, -1.0, 4.2058374560838274e-07, 0.19879663510816403, -0.20161890776956426, 0.24376050846080943, -0.9936400651931763, -0.34987887740135193, -0.2657735347747803, 6.010403740219772e-05, 0.017679173662177115, -0.040004010760503673], "max": [3.4333671652185367, -4.9886475379721835, 0.7016654446495456, 0.0, 0.0, 1.0, 0.0006690033478662372, 0.3964490577197739, 0.21604972430693348, 0.5939217159435278, 0.9983333349227905, 0.3616548180580139, 0.13193410634994507, 0.13517536222934723, 0.040779548562449044, -0.017371808536714706], "mean": [3.4329766519184433, -4.989043921763048, 0.7010170154535476, 0.0, 0.0, 0.2862453234683182, 0.0002000612364420215, 0.27141300933633145, -0.02729428542237435, 0.33435587010233375, -0.15863096758335496, 0.09685911470851047, -0.0842711761906279, 0.02774221507605636, 0.03452001279593965, -0.033023186772961496], "std": [0.00038843582349205305, 0.00018659937390543336, 0.000692081936545919, 0.0, 0.0, 0.9581563314039375, 0.0002065809153230991, 0.05970333686995963, 0.11129952597234707, 0.08967597379207842, 0.9437425876998332, 0.22761516627308595, 0.12075856753760619, 0.023278614295428168, 0.007705137244556354, 0.008492837602626584], "count": [269]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.632142857142857, -0.9, -0.7392857142857142, -0.10285714285714286, -0.19, -0.1957142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7714285714285714, 1.0, 0.9464285714285714, 0.26571428571428574, 0.18714285714285714, 0.15, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01068773234200742, 0.04774296335634627, -0.06643653744025489, 0.004790228359001594, -0.003531598513011154, -0.020918746680828444, -0.41263940520446096], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2179079567262439, 0.37745344426036354, 0.3762601439673932, 0.04645766479406758, 0.05129082876435263, 0.06302130230521376, 0.910894462203227], "count": [269]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05947955325245857], "std": [0.23652006685733795], "count": [269]}, "next.done": {"min": [false], "max": [true], "mean": [0.0037174721189591076], "std": [0.060857641426560964], "count": [269]}, "timestamp": {"min": [0.0], "max": [13.4], "mean": [6.700000000000001], "std": [3.8826537316634355], "count": [269]}, "frame_index": {"min": [0], "max": [268], "mean": [134.0], "std": [77.6530746332687], "count": [269]}, "episode_index": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [269]}, "index": {"min": [38704], "max": [38972], "mean": [38838.0], "std": [77.6530746332687], "count": [269]}, "task_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [269]}}} +{"episode_index": 105, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.06666666666666667]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6581469313677619]], [[0.6110000747979857]], [[0.5761582545860141]]], "std": [[[0.22623579249021872]], [[0.272262446100604]], [[0.3081097904594849]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.534267323213465]], [[0.5252026301365272]], [[0.5292462475346584]]], "std": [[[0.2187568411804088]], [[0.22637873253448604]], [[0.22828647082833417]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5490036950204887]], [[0.5369999658921185]], [[0.5397571859920726]]], "std": [[[0.21523579012499347]], [[0.22313254730964677]], [[0.22487190954525754]]], "count": [100]}, "annotation.human.task_description": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [273]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [273]}, "observation.state": {"min": [1.5600337808888338, -5.57152773065444, 0.6999976679727556, 0.0, 0.0, -0.7075308561325073, 0.7066825032234192, 0.1579348311965525, -0.29575881406983373, 0.230209881945037, -0.9998827576637268, -0.12467560172080994, -0.15962746739387512, 0.00017525388102512807, 0.013363811067952416, -0.04012211264171163], "max": [1.5603754744944467, -5.5708888732330415, 0.7008967023651398, 0.0, 0.0, -0.7070894837379456, 0.7071239948272705, 0.39618002705234634, 0.17044448274402635, 0.5948136851945338, 0.9969580769538879, 0.12799698114395142, 0.14420086145401, 0.07347141951322556, 0.039993456498281815, -0.013564194553700237], "mean": [1.5601822346204508, -5.5710478431922095, 0.7006549050951487, 0.0, 0.0, -0.7073453446447631, 0.7068681031356364, 0.2582747900969427, -0.021681941620131935, 0.32805620642331784, -0.43395072789419264, 0.014574004951250422, -0.050034823401015754, 0.02141938619035247, 0.03254887863180158, -0.03284945243658902], "std": [0.0001026563073915964, 0.00023954599261079399, 0.0003305028107149688, 0.0, 0.0, 0.00013296626679917776, 0.00013301152119899685, 0.06437012462048554, 0.13395859577944066, 0.0751673048367666, 0.8927063200832024, 0.07300831753439493, 0.07769806935517441, 0.014843172355894992, 0.009780212006227824, 0.00959008847318954], "count": [273]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8535714285714285, -1.0, -0.8892857142857143, -0.15857142857142856, -0.37857142857142856, -0.12571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8642857142857142, 0.9892857142857144, 0.9928571428571428, 0.1242857142857143, 0.09857142857142857, 0.11571428571428573, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01722919937205652, 0.011172161172161172, -0.15833333333333333, 0.003736263736263738, -0.022328623757195187, -0.0028990057561486173, -0.42124542124542125], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.29582464505693895, 0.4255073459954157, 0.4198603774325921, 0.03649831365676791, 0.0657212037459055, 0.04505358546263873, 0.906946688113345], "count": [273]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05860805884003639], "std": [0.2348896712064743], "count": [273]}, "next.done": {"min": [false], "max": [true], "mean": [0.003663003663003663], "std": [0.060411804038354], "count": [273]}, "timestamp": {"min": [0.0], "max": [13.6], "mean": [6.800000000000001], "std": [3.9403891516786342], "count": [273]}, "frame_index": {"min": [0], "max": [272], "mean": [136.0], "std": [78.80778303357269], "count": [273]}, "episode_index": {"min": [105], "max": [105], "mean": [105.0], "std": [0.0], "count": [273]}, "index": {"min": [38973], "max": [39245], "mean": [39109.0], "std": [78.80778303357269], "count": [273]}, "task_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [273]}}} +{"episode_index": 106, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9450980392156862]], [[0.9176470588235294]], [[0.8745098039215686]]], "mean": [[[0.5848703391879212]], [[0.5254435185451133]], [[0.4670763208725873]]], "std": [[[0.23276707694912552]], [[0.20129241353669092]], [[0.18068381984212137]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6258048005945542]], [[0.455163984710095]], [[0.4075962542365579]]], "std": [[[0.16786411739092047]], [[0.2567772097592492]], [[0.25376578875516875]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6220808715820313]], [[0.44969217577167586]], [[0.4027949140960095]]], "std": [[[0.17084732347599876]], [[0.257515344812344]], [[0.25537106038931906]]], "count": [100]}, "annotation.human.task_description": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [272]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [272]}, "observation.state": {"min": [1.4123391181141915, -0.8054851427084035, 0.6999600405137344, 0.0, 0.0, 0.7071007490158081, 0.7065660357475281, 0.24513721425309587, -0.36132506821353605, 0.2402082007890196, -0.9921367168426514, -0.28754401206970215, -0.2899247109889984, 0.0002885880821850151, 0.020561634440536297, -0.03996498665550341], "max": [1.4130901720573337, -0.8043861260188045, 0.7001921889988392, 0.0, 0.0, 0.7076470851898193, 0.7071127891540527, 0.46408488688592225, 0.17167856000214732, 0.599581412427659, 0.9914914965629578, 0.10577231645584106, 0.4014328718185425, 0.09804622083902359, 0.039934808959553994, -0.02050492612002989], "mean": [1.412882811195705, -0.8045165988942233, 0.700096231708975, 0.0, 0.0, 0.707271912956939, 0.7069415684570285, 0.3373657765915674, -0.10513346076609983, 0.33641122468170565, 0.11962605771773002, -0.040045383550664955, 0.03881443354903775, 0.030635883812090682, 0.036273947189624844, -0.03489482332495038], "std": [0.0001776933351694658, 0.00029790995677410917, 6.400791856682144e-05, 0.0, 0.0, 0.00013229807641120564, 0.00013237313383499577, 0.05607545816897447, 0.15121719976846038, 0.07657159212245877, 0.9512268966608571, 0.10921847689466502, 0.25345438186500846, 0.0253070947531203, 0.003877526811489431, 0.005809745881987926], "count": [272]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6107142857142858, -0.06285714285714286, -0.18428571428571427, -0.15428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45, 0.9785714285714284, 1.0, 0.11571428571428573, 0.04285714285714286, 0.055714285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03580619747899158, -0.13315388655462188, -0.033153886554621835, 0.0066649159663865545, -0.010840336134453777, -0.014506302521008398, -0.3235294117647059], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19294281329525467, 0.4445569591845171, 0.3821263643439581, 0.03493010461602332, 0.03026913619331437, 0.03042016625365609, 0.946218114243847], "count": [272]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05882352963089943], "std": [0.2352941334247589], "count": [272]}, "next.done": {"min": [false], "max": [true], "mean": [0.003676470588235294], "std": [0.06052234423953797], "count": [272]}, "timestamp": {"min": [0.0], "max": [13.55], "mean": [6.7749999999999995], "std": [3.9259552977587506], "count": [272]}, "frame_index": {"min": [0], "max": [271], "mean": [135.5], "std": [78.51910595517501], "count": [272]}, "episode_index": {"min": [106], "max": [106], "mean": [106.0], "std": [0.0], "count": [272]}, "index": {"min": [39246], "max": [39517], "mean": [39381.5], "std": [78.51910595517501], "count": [272]}, "task_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [272]}}} +{"episode_index": 107, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6554779292087929]], [[0.6190873317344516]], [[0.5740189268822763]]], "std": [[[0.19538080444830852]], [[0.19539004791513914]], [[0.19760407485476594]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5506468948663449]], [[0.5446170391007965]], [[0.5300322965734146]]], "std": [[[0.24585810736686933]], [[0.21265525744593455]], [[0.19097380719483437]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.09411764705882353]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.533993600284352]], [[0.5332796612907859]], [[0.5229696032954197]]], "std": [[[0.24883507197769983]], [[0.2140973562445875]], [[0.19004465763984082]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [305]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [305]}, "observation.state": {"min": [3.766583963563827, -1.2660320014599533, 0.699998307972597, 0.0, 0.0, -7.43492491892539e-05, 1.0, 0.1966596788470616, -0.2872256687300614, 0.2335297368510958, -0.9875372648239136, -0.4562821090221405, -0.2297792285680771, 0.00026316684670746326, 0.02051860269463668, -0.0399411283143472], "max": [3.767048191401779, -1.2654073937245383, 0.7008484774977767, 0.0, 0.0, 0.0002441547403577715, 1.0, 0.47473281487120644, 0.19613547894560468, 0.598582465512234, 0.9891790151596069, 0.46978116035461426, 0.16859032213687897, 0.19073089957237244, 0.04039428870055356, -0.01980033364772973], "mean": [3.7667391523247624, -1.26559395851471, 0.7005091447360724, 0.0, 0.0, 0.00013712025673858527, 1.0, 0.31107308931619787, -0.1239539360034706, 0.3557456110944909, 0.1479444314221867, -0.026792981878655857, -0.0006686943842739355, 0.04922386338251078, 0.035664639801262533, -0.0332824836432371], "std": [0.00018213747238065932, 0.00020071493882687405, 0.00032031738589902934, 0.0, 0.0, 7.112314333712345e-05, 0.0, 0.08234024847009384, 0.14339506055243384, 0.08387236577457512, 0.9124404199806357, 0.3530837904153796, 0.12495957256371605, 0.04626626513029246, 0.004509271614487525, 0.007299057333109321], "count": [305]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8928571428571429, -0.9071428571428573, -0.7357142857142858, -0.09571428571428571, -0.2714285714285714, -0.20428571428571432, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6678571428571428, 1.0, 0.8035714285714287, 0.12, 0.15285714285714286, 0.12571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01229508196721309, 0.03011709601873539, -0.037295081967213116, 0.012599531615925058, -0.0080327868852459, -0.021601873536299783, -0.23934426229508196], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2881586920939151, 0.41451231750552137, 0.312969436360143, 0.03622862258575547, 0.057763470552238294, 0.060647697965274604, 0.9709347682035211], "count": [305]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05245901644229889], "std": [0.22295081615447998], "count": [305]}, "next.done": {"min": [false], "max": [true], "mean": [0.003278688524590164], "std": [0.05716588778413998], "count": [305]}, "timestamp": {"min": [0.0], "max": [15.2], "mean": [7.6], "std": [4.402272140611028], "count": [305]}, "frame_index": {"min": [0], "max": [304], "mean": [152.0], "std": [88.04544281222056], "count": [305]}, "episode_index": {"min": [107], "max": [107], "mean": [107.0], "std": [0.0], "count": [305]}, "index": {"min": [39518], "max": [39822], "mean": [39670.0], "std": [88.04544281222056], "count": [305]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [305]}}} +{"episode_index": 108, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6436293723910462]], [[0.5701322727577359]], [[0.5011620040594362]]], "std": [[[0.18778580923136037]], [[0.21857067058137344]], [[0.26655383155058104]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6313138146493948]], [[0.5179434862323836]], [[0.45807865397135417]]], "std": [[[0.16167644683682092]], [[0.2126988866259315]], [[0.2099472799657794]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6335327962239583]], [[0.5017006794050628]], [[0.4464227456485524]]], "std": [[[0.16068023400863513]], [[0.2291583781980608]], [[0.22836544783942342]]], "count": [100]}, "annotation.human.task_description": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [271]}, "annotation.human.task_name": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [271]}, "observation.state": {"min": [1.524951226905178, -0.8493189320517676, 0.6999967809928687, 0.0, 0.0, 0.7065834403038025, 0.7071390151977539, 0.18961997027592126, -0.18962569314718625, 0.23038350005664143, -0.9998414516448975, -0.04587065428495407, -0.2653362452983856, 0.00011535370140336454, 0.005919947129510024, -0.039940027837655705], "max": [1.5254304046519103, -0.8486464554146138, 0.7008747885342571, 0.0, 0.0, 0.7070745229721069, 0.7076296806335449, 0.41784295994799636, 0.22820651543830928, 0.5884827507544667, 0.998515248298645, 0.23551815748214722, 0.0899709165096283, 0.08605983108282089, 0.04033675721705023, -0.006666745082383192], "mean": [1.5251057048126655, -0.8489049123926486, 0.7003542467890953, 0.0, 0.0, 0.7069030025788339, 0.7073104491532949, 0.2974880663402319, -0.008053154299970002, 0.30493353944422763, -0.696502038693516, 0.03246937853686264, -0.057236633779080955, 0.028970216905727823, 0.030398243261597405, -0.030196866293720724], "std": [0.00013375702256681514, 0.0002237265336457755, 0.0002988187342910212, 0.0, 0.0, 0.00013351547115693637, 0.00013344328301307312, 0.06001786962831742, 0.10548260825168475, 0.08206682365626872, 0.7047561938591498, 0.057887340288883066, 0.0955838047740879, 0.023384777251184576, 0.011848470052817578, 0.011876334297826778], "count": [271]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8714285714285716, -0.6964285714285715, -0.7785714285714286, -0.07, -0.14285714285714285, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7857142857142857, 1.0, 0.9571428571428572, 0.06857142857142857, 0.10857142857142858, 0.06, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.031286241433842926, 0.0600817079599367, -0.08458091723774373, 0.0036320506062203486, -0.005740643120716923, -0.015023721665788088, -0.36531365313653136], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25843491373772604, 0.33755840994191466, 0.35322446598170004, 0.021355394644735834, 0.04672341865016182, 0.03217399362027454, 0.9308844905959271], "count": [271]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05904059112071991], "std": [0.23570065200328827], "count": [271]}, "next.done": {"min": [false], "max": [true], "mean": [0.0036900369003690036], "std": [0.0606334934507564], "count": [271]}, "timestamp": {"min": [0.0], "max": [13.5], "mean": [6.75], "std": [3.911521443121589], "count": [271]}, "frame_index": {"min": [0], "max": [270], "mean": [135.0], "std": [78.23042886243178], "count": [271]}, "episode_index": {"min": [108], "max": [108], "mean": [108.0], "std": [0.0], "count": [271]}, "index": {"min": [39823], "max": [40093], "mean": [39958.0], "std": [78.23042886243178], "count": [271]}, "task_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [271]}}} diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/info.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..826c33d331d3cba34f2159826a6fdb62eece53de --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 109, + "total_frames": 40094, + "total_tasks": 95, + "total_videos": 327, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:109" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/modality.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/stats.json b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1423f5f391d0d807b8d12657b123be6d4f2d6928 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 44.54539489746094 + ], + "std": [ + 26.606157302856445 + ], + "min": [ + 0.0 + ], + "max": [ + 94.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 93.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 95.0 + ], + "std": [ + 0.0 + ], + "min": [ + 95.0 + ], + "max": [ + 95.0 + ], + "q01": [ + 95.0 + ], + "q99": [ + 95.0 + ] + }, + "observation.state": { + "mean": [ + 2.676934242248535, + -2.2027742862701416, + 0.7006502747535706, + 0.0, + 0.0, + 0.08160992711782455, + 0.597886323928833, + 0.31485071778297424, + 0.0028888178057968616, + 0.3391878306865692, + -0.44594600796699524, + -0.0005189916701056063, + -0.040358636528253555, + 0.036483947187662125, + 0.034960754215717316, + -0.034924499690532684 + ], + "std": [ + 1.4958351850509644, + 1.5401500463485718, + 0.0010360860032960773, + 0.0, + 0.0, + 0.7182836532592773, + 0.3462314307689667, + 0.10754867643117905, + 0.157160222530365, + 0.09497901797294617, + 0.8723129034042358, + 0.1365130990743637, + 0.13216693699359894, + 0.03383968397974968, + 0.007717996835708618, + 0.007690415717661381 + ], + "min": [ + -1.1171629428863525, + -6.5773444175720215, + 0.6999600529670715, + 0.0, + 0.0, + -1.0, + 0.0, + -0.06655498594045639, + -0.49138811230659485, + 0.22191321849822998, + -0.9999734163284302, + -0.6255422830581665, + -0.5370292067527771, + 1.5425353012687992e-06, + -0.0006478949217125773, + -0.041965000331401825 + ], + "max": [ + 6.1164937019348145, + -0.7582817673683167, + 0.7092378735542297, + 0.0, + 0.0, + 1.0, + 1.0, + 0.7086735367774963, + 0.5160390138626099, + 0.7066711187362671, + 0.9999837279319763, + 0.624472439289093, + 0.4850376844406128, + 0.3346482217311859, + 0.04248111695051193, + 0.000347587134456262 + ], + "q01": [ + -1.1171112060546875, + -5.595335960388184, + 0.6999983191490173, + 0.0, + 0.0, + -1.0, + 1.0958646043945919e-06, + 0.004991091787815094, + -0.3535659611225128, + 0.23128946125507355, + -0.9995171427726746, + -0.3873767852783203, + -0.31624674797058105, + 0.00036424639984034, + 0.006783442571759224, + -0.040251314640045166 + ], + "q99": [ + 6.111324787139893, + -0.7582942247390747, + 0.704339325428009, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6105043888092041, + 0.3836323618888855, + 0.6458108425140381, + 0.9992092251777649, + 0.3951326012611389, + 0.3124620020389557, + 0.1520455777645111, + 0.04032386466860771, + -0.006519755814224482 + ] + }, + "action": { + "mean": [ + 0.00840181764215231, + -0.005975822918117046, + 0.0029945168644189835, + 0.0, + -0.9684740900993347, + 0.01547461748123169, + -0.0019062816863879561, + -0.06821022927761078, + 0.001400653040036559, + -0.00029751553665846586, + -0.004600547719746828, + -0.34743353724479675 + ], + "std": [ + 0.08633419126272202, + 0.06255482882261276, + 0.03462953865528107, + 0.0, + 0.2491067498922348, + 0.22883768379688263, + 0.30035075545310974, + 0.299034059047699, + 0.02999306283891201, + 0.05040498822927475, + 0.041629381477832794, + 0.9377530217170715 + ], + "min": [ + -0.8357142806053162, + -1.0, + -0.1071428582072258, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.3385714292526245, + -0.5, + -0.34285715222358704, + -1.0 + ], + "max": [ + 1.0, + 0.5249999761581421, + 0.5442857146263123, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.26571428775787354, + 0.39142856001853943, + 0.37285715341567993, + 1.0 + ], + "q01": [ + 0.0, + -0.23571428656578064, + 0.0, + 0.0, + -1.0, + -0.7124999761581421, + -0.8892857432365417, + -0.6785714030265808, + -0.09724286943674088, + -0.17571428418159485, + -0.14000000059604645, + -1.0 + ], + "q99": [ + 0.3482142984867096, + 0.0, + 0.019285714253783226, + 0.0, + 1.0, + 0.6392857432365417, + 0.925000011920929, + 0.7982142567634583, + 0.10857142508029938, + 0.15214285254478455, + 0.13285714387893677, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.056093182414770126 + ], + "std": [ + 0.2301015704870224 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.002718611154705286 + ], + "std": [ + 0.05206938087940216 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 9.955362319946289 + ], + "std": [ + 6.79807186126709 + ], + "min": [ + 0.0 + ], + "max": [ + 45.54999923706055 + ], + "q01": [ + 0.15000000596046448 + ], + "q99": [ + 31.149999618530273 + ] + }, + "frame_index": { + "mean": [ + 199.1072540283203 + ], + "std": [ + 135.96144104003906 + ], + "min": [ + 0.0 + ], + "max": [ + 911.0 + ], + "q01": [ + 3.0 + ], + "q99": [ + 623.0 + ] + }, + "episode_index": { + "mean": [ + 53.393798828125 + ], + "std": [ + 31.717695236206055 + ], + "min": [ + 0.0 + ], + "max": [ + 108.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 107.0 + ] + }, + "index": { + "mean": [ + 20046.5 + ], + "std": [ + 11574.1416015625 + ], + "min": [ + 0.0 + ], + "max": [ + 40093.0 + ], + "q01": [ + 400.92999267578125 + ], + "q99": [ + 39692.0703125 + ] + }, + "task_index": { + "mean": [ + 44.54539489746094 + ], + "std": [ + 26.606157302856445 + ], + "min": [ + 0.0 + ], + "max": [ + 94.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 93.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/tasks.jsonl b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f17b11703ba11931357966db5f38f0873fd29ee3 --- /dev/null +++ b/pretrain/composite/OrganizeVegetables/20250719/lerobot/meta/tasks.jsonl @@ -0,0 +1,96 @@ +{"task_index": 0, "task": "Place the tomato and the lime on separate cutting boards."} +{"task_index": 1, "task": "Place the mango and the pear on separate cutting boards."} +{"task_index": 2, "task": "Place the apple and the kiwi on separate cutting boards."} +{"task_index": 3, "task": "Place the lime and the apple on separate cutting boards."} +{"task_index": 4, "task": "Place the lemon wedge and the orange on separate cutting boards."} +{"task_index": 5, "task": "Place the onion and the bell pepper on separate cutting boards."} +{"task_index": 6, "task": "Place the kiwi and the garlic on separate cutting boards."} +{"task_index": 7, "task": "Place the lemon and the lime on separate cutting boards."} +{"task_index": 8, "task": "Place the garlic and the lime on separate cutting boards."} +{"task_index": 9, "task": "Place the onion and the orange on separate cutting boards."} +{"task_index": 10, "task": "Place the lemon and the tangerine on separate cutting boards."} +{"task_index": 11, "task": "Place the lemon wedge and the broccoli on separate cutting boards."} +{"task_index": 12, "task": "Place the avocado and the potato on separate cutting boards."} +{"task_index": 13, "task": "Place the eggplant and the lemon wedge on separate cutting boards."} +{"task_index": 14, "task": "Place the lemon and the potato on separate cutting boards."} +{"task_index": 15, "task": "Place the onion and the lemon on separate cutting boards."} +{"task_index": 16, "task": "Place the orange and the peach on separate cutting boards."} +{"task_index": 17, "task": "Place the orange and the squash on separate cutting boards."} +{"task_index": 18, "task": "Place the corn and the orange on separate cutting boards."} +{"task_index": 19, "task": "Place the mango and the lime on separate cutting boards."} +{"task_index": 20, "task": "Place the lime and the lemon on separate cutting boards."} +{"task_index": 21, "task": "Place the mushroom and the lemon on separate cutting boards."} +{"task_index": 22, "task": "Place the lemon and the squash on separate cutting boards."} +{"task_index": 23, "task": "Place the garlic and the garlic on separate cutting boards."} +{"task_index": 24, "task": "Place the eggplant and the onion on separate cutting boards."} +{"task_index": 25, "task": "Place the carrot and the mushroom on separate cutting boards."} +{"task_index": 26, "task": "Place the mushroom and the peach on separate cutting boards."} +{"task_index": 27, "task": "Place the broccoli and the corn on separate cutting boards."} +{"task_index": 28, "task": "Place the peach and the tomato on separate cutting boards."} +{"task_index": 29, "task": "Place the kiwi and the lemon on separate cutting boards."} +{"task_index": 30, "task": "Place the bell pepper and the squash on separate cutting boards."} +{"task_index": 31, "task": "Place the garlic and the sweet potato on separate cutting boards."} +{"task_index": 32, "task": "Place the onion and the kiwi on separate cutting boards."} +{"task_index": 33, "task": "Place the lime and the potato on separate cutting boards."} +{"task_index": 34, "task": "Place the broccoli and the garlic on separate cutting boards."} +{"task_index": 35, "task": "Place the cucumber and the apple on separate cutting boards."} +{"task_index": 36, "task": "Place the cucumber and the carrot on separate cutting boards."} +{"task_index": 37, "task": "Place the squash and the mango on separate cutting boards."} +{"task_index": 38, "task": "Place the tomato and the cucumber on separate cutting boards."} +{"task_index": 39, "task": "Place the onion and the cucumber on separate cutting boards."} +{"task_index": 40, "task": "Place the orange and the lemon wedge on separate cutting boards."} +{"task_index": 41, "task": "Place the mushroom and the kiwi on separate cutting boards."} +{"task_index": 42, "task": "Place the garlic and the mango on separate cutting boards."} +{"task_index": 43, "task": "Place the orange and the onion on separate cutting boards."} +{"task_index": 44, "task": "Place the sweet potato and the peach on separate cutting boards."} +{"task_index": 45, "task": "Place the corn and the lemon on separate cutting boards."} +{"task_index": 46, "task": "Place the lime and the lime on separate cutting boards."} +{"task_index": 47, "task": "Place the tangerine and the carrot on separate cutting boards."} +{"task_index": 48, "task": "Place the potato and the avocado on separate cutting boards."} +{"task_index": 49, "task": "Place the peach and the lemon on separate cutting boards."} +{"task_index": 50, "task": "Place the orange and the potato on separate cutting boards."} +{"task_index": 51, "task": "Place the kiwi and the lemon wedge on separate cutting boards."} +{"task_index": 52, "task": "Place the garlic and the lemon on separate cutting boards."} +{"task_index": 53, "task": "Place the kiwi and the mango on separate cutting boards."} +{"task_index": 54, "task": "Place the kiwi and the pear on separate cutting boards."} +{"task_index": 55, "task": "Place the mushroom and the lemon wedge on separate cutting boards."} +{"task_index": 56, "task": "Place the orange and the bell pepper on separate cutting boards."} +{"task_index": 57, "task": "Place the eggplant and the squash on separate cutting boards."} +{"task_index": 58, "task": "Place the broccoli and the broccoli on separate cutting boards."} +{"task_index": 59, "task": "Place the eggplant and the carrot on separate cutting boards."} +{"task_index": 60, "task": "Place the eggplant and the garlic on separate cutting boards."} +{"task_index": 61, "task": "Place the cucumber and the broccoli on separate cutting boards."} +{"task_index": 62, "task": "Place the cucumber and the lemon on separate cutting boards."} +{"task_index": 63, "task": "Place the pear and the mushroom on separate cutting boards."} +{"task_index": 64, "task": "Place the sweet potato and the carrot on separate cutting boards."} +{"task_index": 65, "task": "Place the orange and the carrot on separate cutting boards."} +{"task_index": 66, "task": "Place the kiwi and the cucumber on separate cutting boards."} +{"task_index": 67, "task": "Place the apple and the lime on separate cutting boards."} +{"task_index": 68, "task": "Place the tangerine and the tangerine on separate cutting boards."} +{"task_index": 69, "task": "Place the onion and the avocado on separate cutting boards."} +{"task_index": 70, "task": "Place the garlic and the corn on separate cutting boards."} +{"task_index": 71, "task": "Place the apple and the corn on separate cutting boards."} +{"task_index": 72, "task": "Place the apple and the potato on separate cutting boards."} +{"task_index": 73, "task": "Place the mushroom and the pear on separate cutting boards."} +{"task_index": 74, "task": "Place the potato and the bell pepper on separate cutting boards."} +{"task_index": 75, "task": "Place the orange and the tangerine on separate cutting boards."} +{"task_index": 76, "task": "Place the apple and the tangerine on separate cutting boards."} +{"task_index": 77, "task": "Place the squash and the peach on separate cutting boards."} +{"task_index": 78, "task": "Place the carrot and the tomato on separate cutting boards."} +{"task_index": 79, "task": "Place the onion and the pear on separate cutting boards."} +{"task_index": 80, "task": "Place the lemon wedge and the tangerine on separate cutting boards."} +{"task_index": 81, "task": "Place the squash and the avocado on separate cutting boards."} +{"task_index": 82, "task": "Place the orange and the pear on separate cutting boards."} +{"task_index": 83, "task": "Place the carrot and the pear on separate cutting boards."} +{"task_index": 84, "task": "Place the bell pepper and the mango on separate cutting boards."} +{"task_index": 85, "task": "Place the lemon wedge and the cucumber on separate cutting boards."} +{"task_index": 86, "task": "Place the onion and the eggplant on separate cutting boards."} +{"task_index": 87, "task": "Place the corn and the bell pepper on separate cutting boards."} +{"task_index": 88, "task": "Place the banana and the pear on separate cutting boards."} +{"task_index": 89, "task": "Place the avocado and the kiwi on separate cutting boards."} +{"task_index": 90, "task": "Place the tomato and the corn on separate cutting boards."} +{"task_index": 91, "task": "Place the potato and the tomato on separate cutting boards."} +{"task_index": 92, "task": "Place the sweet potato and the banana on separate cutting boards."} +{"task_index": 93, "task": "Place the carrot and the garlic on separate cutting boards."} +{"task_index": 94, "task": "Place the garlic and the carrot on separate cutting boards."} +{"task_index": 95, "task": "OrganizeVegetables"} diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/dataset_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af74f6e561b7d52dd44f467b3d04125866b3115a --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "8-11-2025", + "env": "PackIdenticalLunches", + "env_args": { + "type": 1, + "env_name": "PackIdenticalLunches", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "PackIdenticalLunches", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "PackIdenticalLunches", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "19:18:56", + "total": 182241 +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..356358085c38f0f299eb0afe6e1950a301471672 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 59, + "style_id": 23, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.7848527958889071, + 1.075989 + ], + "offset": [ + 0.8087041020555463, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.7848527958889071, + 1.075989 + ], + "offset": [ + 0.8087041020555463, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one corn and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2122917155090793, + -3.9740860774723945, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415884046807676 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6dcf080f6d5a454bdbb249e5ec6ee0c7f51e757c --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 59, + "style_id": 52, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.7540695827484295, + 1.075989 + ], + "offset": [ + 0.8240957086257854, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.7540695827484295, + 1.075989 + ], + "offset": [ + 0.8240957086257854, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one lemon and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2853800286247483, + -3.7215992963714086, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415884046807676 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7dd590edc3aef52f9a5f73933c430713f1b8d7c9 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,678 @@ +{ + "layout_id": 19, + "style_id": 39, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one corn and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1890499248770787, + -1.0997674438268317, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94710c50e4b4d9737712834c1ee45347135aceae --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,691 @@ +{ + "layout_id": 26, + "style_id": 42, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.486819938928346 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.486819938928346 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.847109489384187, + -1.0910419213667648, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94768bbeb411bf19d292ac308d56df440377cf2e --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,729 @@ +{ + "layout_id": 56, + "style_id": 58, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04982950829999999, + 0.14104355024999995, + 0.05576044664999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one eggplant and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.582828441308035, + -2.7872772675923603, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..843369afb525185c99167f9d9671b4c93ab69cbf --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,725 @@ +{ + "layout_id": 23, + "style_id": 46, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.039628183899999996, + 0.14381945929999995, + 0.041762779649999984 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one carrot and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.593634073222284, + -4.337934235513223, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62c54cab49e88d72185509ba55404ad7a7a122df --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,729 @@ +{ + "layout_id": 56, + "style_id": 14, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004448710707134762, + 0.07787020008084633, + 0.2687400063981569 + ], + "size": [ + 0.6491596245173747, + 0.5040113829419179 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008234956404977734, + 0.07766792230766895, + 0.5616164387813524 + ], + "size": [ + 0.6516963579397972, + 0.5048786873635636 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004448710707134762, + 0.07787020008084633, + 0.2687400063981569 + ], + "size": [ + 0.6491596245173747, + 0.5040113829419179 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004448710707134762, + 0.07787020008084633, + 0.2687400063981569 + ], + "size": [ + 0.6491596245173747, + 0.5040113829419179 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one lemon and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.65647303007792, + -2.8025905659105153, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9872bbf3940b6ede974657247a4bfb128d1a7fbf --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,736 @@ +{ + "layout_id": 22, + "style_id": 24, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06405487999999998, + 0.12499897124999998, + 0.06664654999999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one onion and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.563765198469365, + -1.0727251979679568, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c5d0d0c3956876ce4ee6ae027acf7b0dd0460d3 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,700 @@ +{ + "layout_id": 51, + "style_id": 22, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "garlic", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "garlic", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.8487528400000002, + 0.65 + ], + "offset": [ + -1.16342458, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.8487528400000002, + 0.65 + ], + "offset": [ + -1.16342458, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one garlic and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3566380753494944, + -1.132066744925531, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cdf21239ce9b538f5bb89335bcb3d4731935e081 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 36, + "style_id": 39, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04724175415926844, + 0.07095003329879473, + 0.04452813252783647 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04724175415926844, + 0.07095003329879473, + 0.04452813252783647 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one mushroom and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.649858738017418, + -4.169238693051653, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..374ca440f188b4368d5653268aea597416b0ba23 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,690 @@ +{ + "layout_id": 27, + "style_id": 42, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061548362299999985, + 0.08427053679999998, + 0.05911777369999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012996142150343004, + 0.10221623225815374, + 0.134664186749225 + ], + "size": [ + 0.6287293436356116, + 0.5393923430638217 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061548362299999985, + 0.08427053679999998, + 0.05911777369999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012996142150343004, + 0.10221623225815374, + 0.134664186749225 + ], + "size": [ + 0.6287293436356116, + 0.5393923430638217 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.748, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.748, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Place one lemon and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0833206022784618, + -2.936454214147492, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8fa18514626958f855ea95f9e665f27a090761c --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,696 @@ +{ + "layout_id": 33, + "style_id": 17, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one cucumber and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.530062740037953, + -1.4242307378419636, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9bb1f568a7805567722b6aaf7769b1dc1392c720 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,609 @@ +{ + "layout_id": 34, + "style_id": 22, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.6130162524900395, + 0.65 + ], + "offset": [ + -0.9155418737549803, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.6130162524900395, + 0.65 + ], + "offset": [ + -0.9155418737549803, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place one lemon and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.15007419310732, + -4.744629102998169, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14eccdacb7530d356b0230500f02fef503954f83 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,645 @@ +{ + "layout_id": 36, + "style_id": 29, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04982950829999999, + 0.14104355024999995, + 0.05576044664999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one eggplant and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.5805665824004969, + -4.191582923907414, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd16ee3a99cc878ba291b3ac64c6c245f7b316c5 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,835 @@ +{ + "layout_id": 39, + "style_id": 50, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04724175415926844, + 0.07095003329879473, + 0.04452813252783647 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.232196987874972, + 0.65 + ], + "offset": [ + 1.7339015060625136, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.232196987874972, + 0.65 + ], + "offset": [ + 1.7339015060625136, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one mushroom and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.033604883189829, + -1.094829101721699, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e89f6f7fcb5507416292e4f7daa3680e03281c3 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,678 @@ +{ + "layout_id": 57, + "style_id": 19, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.5295696868346794 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.23759933738123099 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.5295696868346794 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.23759933738123099 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.6734568734549254, + 0.65 + ], + "offset": [ + 1.0389135632725375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.6734568734549254, + 0.65 + ], + "offset": [ + 1.0389135632725375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one lemon and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1579561102005664, + -3.7559997341379887, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb560b2466680de9e4038d450d1bd2723b0ed8aa --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,752 @@ +{ + "layout_id": 49, + "style_id": 44, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.20452769288193576 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.49395370726984705 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.49395370726984705 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.49395370726984705 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one carrot and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_2", + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7652248551230674, + -1.4754135710929757, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414378621190933 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d4a114c546bf2f5ab3506a280d4e4aa6e6ccacc --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,688 @@ +{ + "layout_id": 42, + "style_id": 16, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "garlic", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "garlic", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.112, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.112, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one garlic and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8803621472084395, + -1.1635645686883487, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55bcd6fe6365bf79c906f7ab8cf1a2b2613f875b --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,700 @@ +{ + "layout_id": 51, + "style_id": 55, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06901958700000001, + 0.07059185533460792, + 0.06406201096188076 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06901958700000001, + 0.07059185533460792, + 0.06406201096188076 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.9403771419160478, + 0.65 + ], + "offset": [ + -1.117612429041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.9403771419160478, + 0.65 + ], + "offset": [ + -1.117612429041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.208197269831191, + -1.1099108506918371, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a733e6bc28fd9f045477eed0437e33ce45e8dcb8 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,670 @@ +{ + "layout_id": 30, + "style_id": 31, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "garlic", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "garlic", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one garlic and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0757887682226823, + -0.7925249870726776, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b2e1aa617e9f62fc327b34d39557c4a17899afaf --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,691 @@ +{ + "layout_id": 31, + "style_id": 41, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_main_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.4940342214390085, + 1.3 + ], + "offset": [ + 1.3029643892804956, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_main_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.4940342214390085, + 1.3 + ], + "offset": [ + 1.3029643892804956, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0391263921756755, + -1.0936833650185007, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50265052536fae4daf3d4e8477565cb3d52cc956 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,835 @@ +{ + "layout_id": 39, + "style_id": 52, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "avocado", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052865963819999987, + 0.08099999999999999, + 0.052313077259999986 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "avocado" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "avocado", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0671310922831356, + 0.09899880177224696, + 0.06861402506961725 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "avocado" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.0324390827484295, + 0.65 + ], + "offset": [ + 1.8337804586257849, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.0324390827484295, + 0.65 + ], + "offset": [ + 1.8337804586257849, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one avocado and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.2262492995562875, + -1.0941382308808387, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a980d85e5902b94fd3460d4c1dc4829a3e7d3ece --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 36, + "style_id": 24, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon_wedge", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.072908, + 0.106228, + 0.054972 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon_wedge", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.032836, + 0.089844, + 0.034452 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one lemon wedge and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.4822805512262334, + -4.213402564653784, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29221f010e39fe7f851c891b5f208b691385cc78 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,678 @@ +{ + "layout_id": 19, + "style_id": 43, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.001492269213273223, + 0.10767671162184726, + 0.21052621409004907 + ], + "size": [ + 0.6511931773551548, + 0.5246483271715515 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001492269213273223, + 0.10767671162184726, + 0.21052621409004907 + ], + "size": [ + 0.6511931773551548, + 0.5246483271715515 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 4.011443266541126e-05, + 0.10767671162184726, + 0.5259250500780068 + ], + "size": [ + 0.6742557497377784, + 0.5246483271715515 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.001492269213273223, + 0.10767671162184726, + 0.21052621409004907 + ], + "size": [ + 0.6511931773551548, + 0.5246483271715515 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one corn and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.305170689506769, + -1.106113781719167, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd7bd0122d9fd608307d307b5baed81967f7c2e1 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,723 @@ +{ + "layout_id": 23, + "style_id": 29, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "sweet_potato", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.029114420068277302, + 0.08640798638914605, + 0.19509568666240945 + ], + "size": [ + 0.6322422275892445, + 0.5604642702202898 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "sweet_potato", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.029145152982939876, + 0.08653084690922787, + 0.5007559583214952 + ], + "size": [ + 0.6321433579462283, + 0.5602185491801261 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.029145152982939876, + 0.08653084690922787, + 0.5007559583214952 + ], + "size": [ + 0.6321433579462283, + 0.5602185491801261 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + -0.029114420068277302, + 0.08640798638914605, + 0.19509568666240945 + ], + "size": [ + 0.6322422275892445, + 0.5604642702202898 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one sweet potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.600837914202758, + -4.227935499946333, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b702564d64214b14f5c9e5e027ff75f549f05b73 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 36, + "style_id": 31, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "garlic", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "garlic", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "garlic" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one garlic and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.5590069103718276, + -4.192870514887993, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d8b08ef329c329e60b839e966a560c5e6be6142 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,721 @@ +{ + "layout_id": 23, + "style_id": 24, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11994071370219295, + 0.49480388284739923 + ], + "size": [ + 0.5903976923748729, + 0.43215057829229375 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.599213622584963, + -4.270881748963486, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8f55c1305710f2037a3e24820b52ed2b9f42cc0 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 59, + "style_id": 40, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.9754606243791433, + 1.075989 + ], + "offset": [ + 0.7134001878104281, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.9754606243791433, + 1.075989 + ], + "offset": [ + 0.7134001878104281, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one eggplant and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2469082871735633, + -3.939726295288912, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415884046807676 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e66e41eb2e4284ff5bad530f6eb2b7b4d61f617 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,727 @@ +{ + "layout_id": 56, + "style_id": 58, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one lime and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.633450668083551, + -2.7831018985540092, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ca8c16cf348679d78881cd8754e55cc47188007 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,721 @@ +{ + "layout_id": 23, + "style_id": 31, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06405487999999998, + 0.12499897124999998, + 0.06664654999999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one onion and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.532546778701916, + -4.3035796422753885, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b6d593478b9eacb78e680b1c2c6b15e72f2eb00 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,703 @@ +{ + "layout_id": 28, + "style_id": 27, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 3.737, + 0.406 + ], + "offset": [ + 0.0, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 3.737, + 0.406 + ], + "offset": [ + 0.0, + 0.0, + 0.514 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one squash and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.788793033015229, + -4.065162780038709, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5e9520b75a9a7938f640412367ddbe9268ab2ff --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 52, + "style_id": 54, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_left_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one corn and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1397552891861988, + -2.090902469285858, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..857cb6db122e33dd73bd81bd1b1dc38f5cb6b621 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,660 @@ +{ + "layout_id": 38, + "style_id": 41, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "vegetable1", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one corn and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1211810195450225, + -6.506329708538467, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e95eaf510bc5396ba9d57ff7c69d4eddf122acd --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,670 @@ +{ + "layout_id": 30, + "style_id": 16, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one squash and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.102709972512566, + -0.7803255320430417, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f7b468d613fc70c35a7d061ac6d623f2a05e81 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,748 @@ +{ + "layout_id": 49, + "style_id": 38, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.072704732, + 0.09999866199999999, + 0.07166651999999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one onion and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_2", + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7261636880556989, + -1.595496975050287, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414378621190933 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a29042c16a0a0a139bd845bc6c584f45936cb90a --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,697 @@ +{ + "layout_id": 50, + "style_id": 16, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.304953, + 0.66078 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.304953, + 0.66078 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place one bell pepper and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_2_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.133823014688348, + -1.4727631416577038, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14143752494427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09fcfcae148281bb35d5e25eb36fc3a65e4bcad2 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,721 @@ +{ + "layout_id": 23, + "style_id": 25, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.593458520552903, + -4.314643617874948, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca723148584d7849d53dc92ce79e4499c30dcb08 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,738 @@ +{ + "layout_id": 22, + "style_id": 50, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cucumber and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.519152224873684, + -1.0858907813615821, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..250cb8273dae44d528c62a23c4a4ffdb88a0509b --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,591 @@ +{ + "layout_id": 40, + "style_id": 43, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.759016043625498, + 0.65 + ], + "offset": [ + 0.8379919781872511, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.759016043625498, + 0.65 + ], + "offset": [ + 0.8379919781872511, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cucumber and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5923622144321943, + -4.413694695211614, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..254d0907e0de301827f2dfe8cbbaa2124fed1aa1 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,752 @@ +{ + "layout_id": 49, + "style_id": 44, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07927373650812587, + 0.09602077883361064, + 0.08800877666079267 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.20452769288193576 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061604661799999974, + 0.10999999999999996, + 0.06543139019999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.49395370726984705 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.20452769288193576 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.20452769288193576 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one potato and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_2", + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7052606254430799, + -1.6155334747471097, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414378621190933 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f168dc3821c0cb0a4ef69a042659e9bec5347f3 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 52, + "style_id": 60, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04982950829999999, + 0.14104355024999995, + 0.05576044664999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_left_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_left_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one eggplant and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1081676001476923, + -2.2291264512858375, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afa19113a1bdf3a15c789889641c089fab6cde63 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,693 @@ +{ + "layout_id": 26, + "style_id": 55, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one lemon and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.8008089164099226, + -1.0742420226430702, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37ba4b37f3d8008b1d9b1e21604515986c28b759 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,676 @@ +{ + "layout_id": 19, + "style_id": 25, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06901958700000001, + 0.07059185533460792, + 0.06406201096188076 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2019168327807166, + -1.1429339061036514, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4217556d8124022fd040f315a178dac7ddaa9871 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,693 @@ +{ + "layout_id": 31, + "style_id": 14, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061548362299999985, + 0.08427053679999998, + 0.05911777369999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_main_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.631255888010492, + 1.3 + ], + "offset": [ + 1.2343535559947538, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_main_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.631255888010492, + 1.3 + ], + "offset": [ + 1.2343535559947538, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one lemon and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.041962716897412, + -1.1624226163004643, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb1daadbadd4c30c340f05246a3256fd6bf3e4d --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,589 @@ +{ + "layout_id": 40, + "style_id": 42, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06901958700000001, + 0.07059185533460792, + 0.06406201096188076 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.486819938928346 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.486819938928346 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.720325, + 0.65 + ], + "offset": [ + 0.8573375000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.720325, + 0.65 + ], + "offset": [ + 0.8573375000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6699778430560293, + -4.301200207339698, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e88ad24f66b5d178f60eb106460c1962677131b3 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,731 @@ +{ + "layout_id": 56, + "style_id": 52, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06275226709999998, + 0.09499999999999997, + 0.07340883889999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07927373650812587, + 0.09602077883361064, + 0.08800877666079267 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.634306015761765, + -2.793887101800465, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1d867e9fa60b3363eb6402b6ed6b652763e5936 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,693 @@ +{ + "layout_id": 26, + "style_id": 34, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one broccoli and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.912801759022771, + -1.1016797214132583, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..768142c130134ef2adf6758dc859596c907efc29 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,653 @@ +{ + "layout_id": 59, + "style_id": 57, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.039628183899999996, + 0.14381945929999995, + 0.041762779649999984 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.7657666570665359, + 1.075989 + ], + "offset": [ + 0.8182471714667319, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.7657666570665359, + 1.075989 + ], + "offset": [ + 0.8182471714667319, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one carrot and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2838720351812898, + -3.92669587533968, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415884046807676 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5423ecac42696b3a38ddec1c43d8a26750647ec8 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,670 @@ +{ + "layout_id": 30, + "style_id": 40, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one lime and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.115328745736186, + -0.7878312702700672, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e41ffa025542c828da3b5a0df91c0cd248059746 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,653 @@ +{ + "layout_id": 59, + "style_id": 58, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05165974373992843, + 0.15974517784092518, + 0.04071821599999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.7876771106143347, + 1.075989 + ], + "offset": [ + 0.807291944692833, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.7876771106143347, + 1.075989 + ], + "offset": [ + 0.807291944692833, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one carrot and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2002569536870693, + -3.8585989270948913, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415884046807676 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a29a00e458bc90c726e27f5d87b958d2b1a946d --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,688 @@ +{ + "layout_id": 27, + "style_id": 38, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012996142150343004, + 0.10221623225815374, + 0.134664186749225 + ], + "size": [ + 0.6287293436356116, + 0.5393923430638217 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07066568713686604, + 0.05329286747463404, + 0.06963380960147325 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012996142150343004, + 0.10221623225815374, + 0.134664186749225 + ], + "size": [ + 0.6287293436356116, + 0.5393923430638217 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.748, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.748, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Place one mushroom and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0771100825153255, + -2.938350287486773, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8430bdedcba3ffc7a96bab5e0a0ea90926e81dd6 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,676 @@ +{ + "layout_id": 48, + "style_id": 40, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.3637915243791432, + 0.650012 + ], + "offset": [ + 0.9567242378104281, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.3637915243791432, + 0.650012 + ], + "offset": [ + 0.9567242378104281, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one bell pepper and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4721046120843746, + -4.531890843996789, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..833904a25ae9bb39c7eec47bf0287e3c7eced86f --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,730 @@ +{ + "layout_id": 35, + "style_id": 17, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.0418, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.0418, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2501376380780407, + -1.0921135959286656, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961519493434 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..552ba6f324ca8fa47f366c2b97ab706bf73077ae --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,591 @@ +{ + "layout_id": 40, + "style_id": 53, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "sweet_potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "sweet_potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.8083447033331166, + 0.65 + ], + "offset": [ + 0.8133276483334415, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.8083447033331166, + 0.65 + ], + "offset": [ + 0.8133276483334415, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one sweet potato and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6499750102340967, + -4.230394503957383, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03d04f3345cd9f98af3787e8d01ef617655a5476 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,670 @@ +{ + "layout_id": 30, + "style_id": 52, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one lime and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1550833887363292, + -0.7669193968879533, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..225ba55b45be8071fabf2f0293115e30133335f9 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,640 @@ +{ + "layout_id": 58, + "style_id": 39, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.7279643019160478, + 0.65 + ], + "offset": [ + -0.767817849041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.7279643019160478, + 0.65 + ], + "offset": [ + -0.767817849041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one lime and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0705317703733317, + -2.049503150239341, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9029cd69f3fcbc3945c0ee6e09d7388b160b576 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 59, + "style_id": 12, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.7177180477734426, + 1.075989 + ], + "offset": [ + 0.8422714761132788, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.7177180477734426, + 1.075989 + ], + "offset": [ + 0.8422714761132788, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one squash and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2050657126407036, + -3.7876053431272303, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415884046807676 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a236c7410eeb0aa4006e5ee81a962d732091bfa --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,678 @@ +{ + "layout_id": 19, + "style_id": 13, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11994071370219295, + 0.49480388284739923 + ], + "size": [ + 0.5903976923748729, + 0.43215057829229375 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one broccoli and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2100682443131383, + -1.1272397192210548, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e90d50deced771f748dd874fdff0d62826ba1af6 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,774 @@ +{ + "layout_id": 29, + "style_id": 60, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.23759933738123099 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.5295696868346794 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.5295696868346794 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.5295696868346794 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one eggplant and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.113898267084866, + -1.1228458791978284, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a8ecd2ddf985351586182567440267dd185e2a1 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,736 @@ +{ + "layout_id": 22, + "style_id": 46, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one lime and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5473519769641233, + -1.1536496040519726, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..244d6b92324b071b6ecfafb89cf40b054f1a5c4b --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,680 @@ +{ + "layout_id": 19, + "style_id": 20, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "potato", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.062111171395770465, + 0.10999998688697808, + 0.04926267939999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "potato", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061604661799999974, + 0.10999999999999996, + 0.06543139019999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one potato and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.335727710232514, + -1.1614848920613572, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ed432928383065e704b94ee480f60cd813866ac --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,721 @@ +{ + "layout_id": 23, + "style_id": 39, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.595068165569995, + -4.411425666016841, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11383824af8a8f77792022e4c01674b096e753b2 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 59, + "style_id": 51, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.7777181198027661, + 1.075989 + ], + "offset": [ + 0.8122714400986171, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.7777181198027661, + 1.075989 + ], + "offset": [ + 0.8122714400986171, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one bell pepper and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2184630805613228, + -3.9004984671992884, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415884046807676 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e53d77c003020f27edcdfc8ea8fe87e2f93a8b89 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,672 @@ +{ + "layout_id": 30, + "style_id": 29, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one cucumber and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0759717750773348, + -0.8186341407397149, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7ff033de688c02a6c27ee21da8fd20aa3d91898 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,672 @@ +{ + "layout_id": 30, + "style_id": 43, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one lemon and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1555298008315038, + -0.7056148534974149, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8feab8b9cb50fd1390503af3e314229af13f7e7e --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 55, + "style_id": 27, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_main_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_main_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place one lime and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.4147216530892972, + -1.2379258560964417, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..018efa02d5bf531ad81e44e72981fa01fb39aff7 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,736 @@ +{ + "layout_id": 22, + "style_id": 24, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon_wedge", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.072908, + 0.106228, + 0.054972 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon_wedge", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03495, + 0.107888, + 0.044468 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one lemon wedge and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5512821685404456, + -1.073656099217582, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f13c90dc87f2b40b294c16e8078ed960a1f35d4b --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,748 @@ +{ + "layout_id": 49, + "style_id": 31, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07273767599999997, + 0.09999999999999996, + 0.07202737999999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one onion and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_2", + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7572971701220155, + -1.4523037674072334, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414378621190933 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a55cf791fab20473890d8380dd16ddb037db5264 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,772 @@ +{ + "layout_id": 29, + "style_id": 38, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.18468570171879015, + 0.1590411040823833, + 0.512698892075753 + ], + "size": [ + 0.41110700154736807, + 0.4249592362239284 + ], + "name": "fridge_shelf4" + } + }, + { + "name": "vegetable1", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.18468570171879015, + 0.1590411040823833, + 0.512698892075753 + ], + "size": [ + 0.41110700154736807, + 0.4249592362239284 + ], + "name": "fridge_shelf4" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.18443539862617542, + 0.15946261204800538, + 0.22080450818706707 + ], + "size": [ + 0.4145301970364168, + 0.4262643586475904 + ], + "name": "fridge_shelf3" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.18468570171879015, + 0.1590411040823833, + 0.512698892075753 + ], + "size": [ + 0.41110700154736807, + 0.4249592362239284 + ], + "name": "fridge_shelf4" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one bell pepper and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1541882635561016, + -1.072125594675248, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7436ae345151f79334512de5d582da8fb3e7ed6a --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,609 @@ +{ + "layout_id": 34, + "style_id": 24, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.656665837300038, + 0.65 + ], + "offset": [ + -0.8937170813499811, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place one broccoli and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.084524007602488, + -4.683322294899295, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea3196f6e32845c8ae2354f8bd21aab97849e429 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,721 @@ +{ + "layout_id": 23, + "style_id": 34, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06901958700000001, + 0.07059185533460792, + 0.06406201096188076 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06901958700000001, + 0.07059185533460792, + 0.06406201096188076 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.531822006282143, + -4.3671847397816, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6696a3f1bc4e75537f88e6a7a2058d5c083d4c92 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,696 @@ +{ + "layout_id": 33, + "style_id": 58, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one cucumber and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.521708041122062, + -1.5500313054479233, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3fdec3e3733081f9325b601c9c9a9e9b2d4b28e7 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,678 @@ +{ + "layout_id": 48, + "style_id": 52, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "cucumber", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cucumber" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.1424004827484295, + 0.650012 + ], + "offset": [ + 1.0674197586257859, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.1424004827484295, + 0.650012 + ], + "offset": [ + 1.0674197586257859, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one cucumber and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3908130496500632, + -4.453068664745638, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e861ab473f876f45f37083f3c16b9256e5d9dfbb --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,645 @@ +{ + "layout_id": 36, + "style_id": 32, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04982950829999999, + 0.14104355024999995, + 0.05576044664999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one eggplant and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.5005303950915039, + -4.212703741673414, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1022a9523b129ea213e2b4de14ffada5c9b26c7a --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 52, + "style_id": 37, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "sweet_potato", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "sweet_potato", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_left_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_left_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one sweet potato and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1246652917955677, + -2.167749652716585, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5981207cf0de056ba33f22c2d564fa7e9e9970e8 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,619 @@ +{ + "layout_id": 52, + "style_id": 34, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "lime", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lime" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_left_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgebottomfreezer_left_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one lime and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1710901579185093, + -2.153144352737118, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08cafcfc642e60983026d84c39cc1593787159d2 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,727 @@ +{ + "layout_id": 56, + "style_id": 55, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "squash", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "squash" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.624354874849434, + -2.7733693759333007, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1724b8ab155287a8b9cd60f0d99d93f88afc337 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,694 @@ +{ + "layout_id": 33, + "style_id": 20, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one bell pepper and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.552420494481358, + -1.5611912330016682, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e15b62468029c7b1e5a5d007ac41c54d3b90f6a1 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,593 @@ +{ + "layout_id": 40, + "style_id": 44, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.20452769288193576 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05165974373992843, + 0.15974517784092518, + 0.04071821599999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.49395370726984705 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.49395370726984705 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.49395370726984705 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.7499891218688841, + 0.65 + ], + "offset": [ + 0.842505439065558, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 0.7499891218688841, + 0.65 + ], + "offset": [ + 0.842505439065558, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one carrot and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6189680494739793, + -4.277437914929063, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a25ff88bc7f16cee1bb115d1c7dd84a3270fc7b3 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,645 @@ +{ + "layout_id": 36, + "style_id": 32, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one eggplant and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6348777798266962, + -4.231108793537363, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..492947986c71b2e183a35bb8ec912a2f790653a2 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,702 @@ +{ + "layout_id": 51, + "style_id": 27, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one corn and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.197382964652347, + -1.1691322831522815, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5bbf609c8cc09f4207ac73ccdcd07df54c2fa429 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,700 @@ +{ + "layout_id": 51, + "style_id": 43, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07066568713686604, + 0.05329286747463404, + 0.06963380960147325 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one mushroom and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3617346164508324, + -1.1662626685694957, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d886021203a27ddf5251f63536a0e582a257248a --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 36, + "style_id": 13, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.557159003534804, + -4.223101513151024, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..855ebfd64ec95616fee88077f707841b06feeb96 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,721 @@ +{ + "layout_id": 23, + "style_id": 22, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.072704732, + 0.09999866199999999, + 0.07166651999999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one onion and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.569295985038026, + -4.387476319629527, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0330d396b44e98dac8f31e81f0f92c6a1b041549 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,691 @@ +{ + "layout_id": 26, + "style_id": 59, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06405487999999998, + 0.12499897124999998, + 0.06664654999999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06405487999999998, + 0.12499897124999998, + 0.06664654999999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one onion and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6922061700779767, + -1.09238668685548, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b257c2e6584037891490e7e3b9612eb3ae0891d2 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,647 @@ +{ + "layout_id": 36, + "style_id": 25, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07388735999999997, + 0.09999999999999996, + 0.07365630199999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07927373650812587, + 0.09602077883361064, + 0.08800877666079267 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "potato" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Place one potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.4630427125097265, + -4.158884586161798, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8edc87e98f4313ca42a8e3108b6cf59866dd851f --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,702 @@ +{ + "layout_id": 51, + "style_id": 20, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "sweet_potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "sweet_potato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "sweet_potato" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one sweet potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2563911899274753, + -1.1015697880604043, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ae19f201abbe5e4cee1739dc68f0739d10d173d --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,690 @@ +{ + "layout_id": 42, + "style_id": 23, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "lemon", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.112, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.112, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one lemon and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1338297365627774, + -1.1670314734616072, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a30b4cbd2007626cb24bcea4ce78b407005219aa --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,694 @@ +{ + "layout_id": 33, + "style_id": 49, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.523911486890422, + -1.5304516458371709, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f082fd5c25fc563c9083317072b5be9047bf3a25 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,676 @@ +{ + "layout_id": 48, + "style_id": 50, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "bell_pepper", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "bell_pepper" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.3421583878749717, + 0.650012 + ], + "offset": [ + 0.9675408060625137, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.3421583878749717, + 0.650012 + ], + "offset": [ + 0.9675408060625137, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one bell pepper and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.418489874868219, + -4.4431565662129575, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99952b167c1daf020f91bc695feac1f58483d182 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 11, + "style_id": 28, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07302815839999997, + 0.07999939919999997, + 0.07302816799999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "onion", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06405487999999998, + 0.12499897124999998, + 0.06664654999999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "onion" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012996142150343004, + 0.10221623225815374, + 0.134664186749225 + ], + "size": [ + 0.6287293436356116, + 0.5393923430638217 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "steak", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "steak" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Place one onion and one steak in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.064453808743403, + -1.0127445365460004, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..745d2bc3f6a10c4b212fd415d5cf7f73a907a909 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,589 @@ +{ + "layout_id": 40, + "style_id": 36, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052485888220760536, + 0.07075409086873356, + 0.05235486654311284 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.9295512259761805, + 0.65 + ], + "offset": [ + 0.7527243870119098, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.9295512259761805, + 0.65 + ], + "offset": [ + 0.7527243870119098, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one mushroom and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.597937551252959, + -4.2409183081686255, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e5cb3309e1513032943f239ad88de2197eefe70 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,727 @@ +{ + "layout_id": 56, + "style_id": 54, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one mushroom and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.635497694516379, + -2.713202294804651, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4c56716052b1fd0eb65508bde809edd9a1a9c71 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,839 @@ +{ + "layout_id": 39, + "style_id": 12, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "carrot", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05165974373992843, + 0.15974517784092518, + 0.04071821599999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "carrot" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.9960875477734428, + 0.65 + ], + "offset": [ + 1.8519562261132783, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.9960875477734428, + 0.65 + ], + "offset": [ + 1.8519562261132783, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place one carrot and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.204360156861662, + -1.1170843234243337, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ebbb1cdb20b9366f9b5c7c25a76cd03693a8a938 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 14, + "style_id": 52, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.001492269213273223, + 0.10767671162184726, + 0.21052621409004907 + ], + "size": [ + 0.6511931773551548, + 0.5246483271715515 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001492269213273223, + 0.10767671162184726, + 0.21052621409004907 + ], + "size": [ + 0.6511931773551548, + 0.5246483271715515 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 4.011443266541126e-05, + 0.10767671162184726, + 0.5259250500780068 + ], + "size": [ + 0.6742557497377784, + 0.5246483271715515 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 4.011443266541126e-05, + 0.10767671162184726, + 0.5259250500780068 + ], + "size": [ + 0.6742557497377784, + 0.5246483271715515 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridge_left_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.76, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridge_left_group_1", + "min_size": [ + 0.47694902, + 0.34067897999999996, + 0.064264 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 1.76, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one broccoli and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.094915560977131, + -2.807211891074299, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b97b521bfd3191a39219b4880b353a91242f00a0 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,750 @@ +{ + "layout_id": 49, + "style_id": 60, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "eggplant", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04982950829999999, + 0.14104355024999995, + 0.05576044664999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "eggplant" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one eggplant and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_2", + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7825872942423443, + -1.679360119361618, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414378621190933 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f010546942dcb328974d2dc0bb57859a58287bea --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,772 @@ +{ + "layout_id": 29, + "style_id": 11, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "mushroom", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05391862382619939, + 0.07085656569409443, + 0.054317850551971095 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "mushroom" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one mushroom and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2330342485016261, + -1.1480808704145051, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e6c1b612dd31a290b88835bae3d0b8ebca38667 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,672 @@ +{ + "layout_id": 30, + "style_id": 46, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one broccoli and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0840188132967694, + -0.6700983913372622, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..370e9a82c84350f443429f5c411f5231996c6ef8 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 14, + "style_id": 51, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable1", + "obj_groups": "corn", + "graspable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "corn" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridge_left_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.76, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridge_left_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 1.76, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Place one corn and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1016612355671744, + -2.9590516815801338, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b901845be8f821bd135ddba06acc8b01ab43aae --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,637 @@ +{ + "layout_id": 41, + "style_id": 26, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1733344306782718, + 0.06420728032491917, + 0.47570295657461054 + ], + "size": [ + 0.4338632947978929, + 0.6031724713660115 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1733344306782718, + 0.06420728032491917, + 0.47570295657461054 + ], + "size": [ + 0.4338632947978929, + 0.6031724713660115 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.1733344306782718, + 0.06420728032491917, + 0.47570295657461054 + ], + "size": [ + 0.4338632947978929, + 0.6031724713660115 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.1733344306782718, + 0.06420728032491917, + 0.47570295657461054 + ], + "size": [ + 0.4338632947978929, + 0.6031724713660115 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.3564, + 0.2362, + 0.0681 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.9550753859761805, + 0.650008 + ], + "offset": [ + 0.8318763070119102, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 0.9550753859761805, + 0.650008 + ], + "offset": [ + 0.8318763070119102, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.2478867701663265, + -1.1342642015003814, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..303509fb663673e582f7e1015a26956b75828e04 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,676 @@ +{ + "layout_id": 19, + "style_id": 45, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.005103815133564837, + -0.025509715229347765, + 0.4904887230576014 + ], + "size": [ + 0.6381259239078757, + 0.44450626326519715 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "tomato", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "tomato" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.005103815133564837, + -0.025509715229347765, + 0.15362000507633938 + ], + "size": [ + 0.6381259239078757, + 0.44450626326519715 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat0", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.005103815133564837, + -0.025509715229347765, + 0.15362000507633938 + ], + "size": [ + 0.6381259239078757, + 0.44450626326519715 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat1", + "obj_groups": "fish", + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.005103815133564837, + -0.025509715229347765, + 0.4904887230576014 + ], + "size": [ + 0.6381259239078757, + 0.44450626326519715 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_3", + "min_size": [ + 0.3596, + 0.26319738000000004, + 0.0571 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place one tomato and one fish in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.382168082448234, + -1.1455270269277866, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..caebbd89681f1125c7ec1b2746914c398ed6e79d --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,729 @@ +{ + "layout_id": 56, + "style_id": 54, + "object_cfgs": [ + { + "name": "vegetable0", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable1", + "obj_groups": "broccoli", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "broccoli" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat0", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + -0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat1", + "obj_groups": "chicken_drumstick", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.25, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "chicken_drumstick" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "tupperware0", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.45072188, + 0.32181216, + 0.093833 + ] + }, + "size": [ + 1.5, + 0.5 + ], + "pos": [ + -0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "tupperware1", + "obj_groups": "tupperware", + "object_scale": [ + 2.5, + 2.5, + 1.25 + ], + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "min_size": [ + 0.43152604, + 0.28248964, + 0.055246 + ] + }, + "reuse_region_from": "tupperware0", + "size": [ + 1.5, + 0.5 + ], + "pos": [ + 0.5, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place one broccoli and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.577897203037177, + -2.747014077882855, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/embodiment.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/episodes.jsonl b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03c43d55e816bd0484f3577a27c69d65762e4373 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/episodes.jsonl @@ -0,0 +1,102 @@ +{"episode_index": 0, "tasks": ["Place one corn and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2130} +{"episode_index": 1, "tasks": ["Place one lemon and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2257} +{"episode_index": 2, "tasks": ["Place one corn and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1284} +{"episode_index": 3, "tasks": ["Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1924} +{"episode_index": 4, "tasks": ["Place one eggplant and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1615} +{"episode_index": 5, "tasks": ["Place one carrot and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1648} +{"episode_index": 6, "tasks": ["Place one lemon and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1327} +{"episode_index": 7, "tasks": ["Place one onion and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1395} +{"episode_index": 8, "tasks": ["Place one garlic and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1495} +{"episode_index": 9, "tasks": ["Place one mushroom and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1759} +{"episode_index": 10, "tasks": ["Place one lemon and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2356} +{"episode_index": 11, "tasks": ["Place one cucumber and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1346} +{"episode_index": 12, "tasks": ["Place one lemon and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1716} +{"episode_index": 13, "tasks": ["Place one eggplant and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1372} +{"episode_index": 14, "tasks": ["Place one mushroom and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1634} +{"episode_index": 15, "tasks": ["Place one lemon and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1307} +{"episode_index": 16, "tasks": ["Place one carrot and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1780} +{"episode_index": 17, "tasks": ["Place one garlic and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1253} +{"episode_index": 18, "tasks": ["Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1697} +{"episode_index": 19, "tasks": ["Place one garlic and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1182} +{"episode_index": 20, "tasks": ["Place one tomato and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2484} +{"episode_index": 21, "tasks": ["Place one avocado and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1211} +{"episode_index": 22, "tasks": ["Place one lemon wedge and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2048} +{"episode_index": 23, "tasks": ["Place one corn and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1733} +{"episode_index": 24, "tasks": ["Place one sweet potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1806} +{"episode_index": 25, "tasks": ["Place one garlic and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1938} +{"episode_index": 26, "tasks": ["Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2000} +{"episode_index": 27, "tasks": ["Place one eggplant and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2034} +{"episode_index": 28, "tasks": ["Place one lime and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1523} +{"episode_index": 29, "tasks": ["Place one onion and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1735} +{"episode_index": 30, "tasks": ["Place one squash and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1583} +{"episode_index": 31, "tasks": ["Place one corn and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2259} +{"episode_index": 32, "tasks": ["Place one corn and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1781} +{"episode_index": 33, "tasks": ["Place one squash and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1610} +{"episode_index": 34, "tasks": ["Place one onion and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1822} +{"episode_index": 35, "tasks": ["Place one bell pepper and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2003} +{"episode_index": 36, "tasks": ["Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2074} +{"episode_index": 37, "tasks": ["Place one cucumber and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1649} +{"episode_index": 38, "tasks": ["Place one cucumber and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2517} +{"episode_index": 39, "tasks": ["Place one potato and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1577} +{"episode_index": 40, "tasks": ["Place one eggplant and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2395} +{"episode_index": 41, "tasks": ["Place one lemon and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1760} +{"episode_index": 42, "tasks": ["Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2167} +{"episode_index": 43, "tasks": ["Place one lemon and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 3011} +{"episode_index": 44, "tasks": ["Place one tomato and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2246} +{"episode_index": 45, "tasks": ["Place one potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1631} +{"episode_index": 46, "tasks": ["Place one broccoli and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2157} +{"episode_index": 47, "tasks": ["Place one carrot and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1478} +{"episode_index": 48, "tasks": ["Place one lime and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1195} +{"episode_index": 49, "tasks": ["Place one carrot and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2324} +{"episode_index": 50, "tasks": ["Place one mushroom and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1519} +{"episode_index": 51, "tasks": ["Place one bell pepper and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1623} +{"episode_index": 52, "tasks": ["Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1628} +{"episode_index": 53, "tasks": ["Place one sweet potato and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2101} +{"episode_index": 54, "tasks": ["Place one lime and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1248} +{"episode_index": 55, "tasks": ["Place one lime and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1444} +{"episode_index": 56, "tasks": ["Place one squash and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2193} +{"episode_index": 57, "tasks": ["Place one broccoli and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1845} +{"episode_index": 58, "tasks": ["Place one eggplant and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1699} +{"episode_index": 59, "tasks": ["Place one lime and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1758} +{"episode_index": 60, "tasks": ["Place one potato and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1900} +{"episode_index": 61, "tasks": ["Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1741} +{"episode_index": 62, "tasks": ["Place one bell pepper and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2048} +{"episode_index": 63, "tasks": ["Place one cucumber and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1461} +{"episode_index": 64, "tasks": ["Place one lemon and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1793} +{"episode_index": 65, "tasks": ["Place one lime and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1921} +{"episode_index": 66, "tasks": ["Place one lemon wedge and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1581} +{"episode_index": 67, "tasks": ["Place one onion and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2039} +{"episode_index": 68, "tasks": ["Place one bell pepper and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1641} +{"episode_index": 69, "tasks": ["Place one broccoli and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1964} +{"episode_index": 70, "tasks": ["Place one tomato and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2045} +{"episode_index": 71, "tasks": ["Place one cucumber and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2108} +{"episode_index": 72, "tasks": ["Place one cucumber and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1313} +{"episode_index": 73, "tasks": ["Place one eggplant and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1621} +{"episode_index": 74, "tasks": ["Place one sweet potato and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1985} +{"episode_index": 75, "tasks": ["Place one lime and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1655} +{"episode_index": 76, "tasks": ["Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1891} +{"episode_index": 77, "tasks": ["Place one bell pepper and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1291} +{"episode_index": 78, "tasks": ["Place one carrot and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1666} +{"episode_index": 79, "tasks": ["Place one eggplant and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1409} +{"episode_index": 80, "tasks": ["Place one corn and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1440} +{"episode_index": 81, "tasks": ["Place one mushroom and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1749} +{"episode_index": 82, "tasks": ["Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1543} +{"episode_index": 83, "tasks": ["Place one onion and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1690} +{"episode_index": 84, "tasks": ["Place one onion and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1455} +{"episode_index": 85, "tasks": ["Place one potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1760} +{"episode_index": 86, "tasks": ["Place one sweet potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2155} +{"episode_index": 87, "tasks": ["Place one lemon and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1568} +{"episode_index": 88, "tasks": ["Place one tomato and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1728} +{"episode_index": 89, "tasks": ["Place one bell pepper and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1729} +{"episode_index": 90, "tasks": ["Place one onion and one steak in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1868} +{"episode_index": 91, "tasks": ["Place one mushroom and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2094} +{"episode_index": 92, "tasks": ["Place one mushroom and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1849} +{"episode_index": 93, "tasks": ["Place one carrot and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1257} +{"episode_index": 94, "tasks": ["Place one broccoli and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 3020} +{"episode_index": 95, "tasks": ["Place one eggplant and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 2077} +{"episode_index": 96, "tasks": ["Place one mushroom and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1806} +{"episode_index": 97, "tasks": ["Place one broccoli and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1681} +{"episode_index": 98, "tasks": ["Place one corn and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 3223} +{"episode_index": 99, "tasks": ["Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 959} +{"episode_index": 100, "tasks": ["Place one tomato and one fish in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1368} +{"episode_index": 101, "tasks": ["Place one broccoli and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."], "length": 1863} diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7aacde9b15901e39eb937c825127a5358b614bac --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,102 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43118307429925845]], [[0.4175630558584818]], [[0.38787918497071355]]], "std": [[[0.21354817685972852]], [[0.21842902590516625]], [[0.1981638209949438]]], "count": [313]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49250391564825935]], [[0.46237854546848817]], [[0.45063999852074915]]], "std": [[[0.23424774458998626]], [[0.23734230597342937]], [[0.2408112174858637]]], "count": [313]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5059168726177821]], [[0.47183105013748833]], [[0.4588195854310799]]], "std": [[[0.22487903514704446]], [[0.23007461120680625]], [[0.23463789616339814]]], "count": [313]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2130]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2130]}, "observation.state": {"min": [1.0907624136130223, -3.9760096781886634, 0.6999963043109283, 0.0, 0.0, -1.0, 2.8435746912691684e-07, -0.12160339381768837, -0.18044499203382935, 0.2537953934653939, -0.9917271137237549, -0.3331450819969177, -0.452340304851532, 9.672378655523062e-05, 0.004316439862282892, -0.04051503413965716], "max": [2.9885580758087746, -1.7683908172907652, 0.7036912126159168, 0.0, 0.0, 1.0, 0.9999878406524658, 0.5733979092881817, 0.022461863163263818, 0.8138662025461707, 0.9798446297645569, 0.09446293115615845, 0.48237502574920654, 0.21180854737758636, 0.040089435735184385, -0.014085527276181098], "mean": [1.9985974227458523, -2.9811925188872683, 0.7020760614235905, 0.0, 0.0, -0.6963162671475116, 0.4172866408033973, 0.11939923964357071, -0.06777513351584923, 0.6079469220144076, 0.08091241473882971, -0.016170555626002836, 0.025581481493135015, 0.03563096505946954, 0.029712291192530025, -0.031363397597732816], "std": [0.6989512949328341, 0.8395950750673475, 0.0010007777583167664, 0.0, 0.0, 0.4831691053502092, 0.327968203468411, 0.17956577001112473, 0.03573782635160695, 0.1205959550732681, 0.9278640446868383, 0.06294690161585284, 0.3546571785659518, 0.024331132690664135, 0.00936602568584893, 0.009843941874834578], "count": [2130]}, "action": {"min": [-1.0, -1.0, -0.6685714285714286, 0.0, -1.0, -1.0, -0.9071428571428573, -0.942857142857143, -0.35428571428571426, -0.35714285714285715, -0.19714285714285715, -1.0], "max": [1.0, 1.0, 0.7657142857142857, 0.0, 1.0, 0.8428571428571429, 1.0, 1.0, 0.10285714285714286, 0.21142857142857144, 0.34285714285714286, 1.0], "mean": [0.06298122065727715, 0.01653923541247485, -0.04252850435949042, 0.0, 0.04788732394366197, -0.0013112005365526517, -0.0037961099932931042, -0.017468142186452037, -0.0020590207914151577, -0.004413145539906106, -0.0012890677397719653, 0.07605633802816901], "std": [0.4780628837828173, 0.37867106963301933, 0.2378474967520508, 0.0, 0.9988527440045871, 0.3879402454187819, 0.12185513042294048, 0.30893803297208217, 0.02535336477874964, 0.05346193641145792, 0.04220298531156766, 0.9971035219302589], "count": [2130]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0075117372907698154], "std": [0.0863441452383995], "count": [2130]}, "next.done": {"min": [false], "max": [true], "mean": [0.00046948356807511736], "std": [0.021662482619829723], "count": [2130]}, "timestamp": {"min": [0.0], "max": [106.45], "mean": [53.225], "std": [30.743898446141582], "count": [2130]}, "frame_index": {"min": [0], "max": [2129], "mean": [1064.5], "std": [614.8779689228317], "count": [2130]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2130]}, "index": {"min": [0], "max": [2129], "mean": [1064.5], "std": [614.8779689228317], "count": [2130]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2130]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5958053831331606]], [[0.5499575207829154]], [[0.5040449032317736]]], "std": [[[0.17710422699937145]], [[0.1650860842915027]], [[0.18641719620071692]]], "count": [327]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5890677333885999]], [[0.5384675728343349]], [[0.49040235654480163]]], "std": [[[0.22294401707713002]], [[0.21503816816314106]], [[0.2234354321900251]]], "count": [327]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5914851169960171]], [[0.5319346243610211]], [[0.47832198449802915]]], "std": [[[0.2058445478796969]], [[0.1949170925830549]], [[0.20415201669707095]]], "count": [327]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2257]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2257]}, "observation.state": {"min": [1.137808655195233, -3.9802968225241067, 0.6999990129844929, 0.0, 0.0, -1.0, 3.676533708585339e-07, -0.09772934218970741, -0.13312754897269397, 0.2732134629789713, -0.9902926683425903, -0.27932223677635193, -0.5654977560043335, 3.1157346711552236e-06, 0.010194493631739682, -0.04009083185910714], "max": [2.9450688636676374, -1.7173295399601933, 0.7031272027351395, 0.0, 0.0, 1.0, 0.8199568390846252, 0.6400806204080852, 0.09567105797058018, 0.7939727005082534, 0.9893952012062073, 0.24707013368606567, 0.5121320486068726, 0.15333519876003265, 0.04055917208799042, -0.008649470336252348], "mean": [1.8990510259418947, -3.0068011008579023, 0.7014295659743284, 0.0, 0.0, -0.3910689641534622, 0.34106722230946673, 0.13970809587269375, -0.009005218420259977, 0.5797772891136013, -0.3477043563621362, -0.011435344544564088, -0.13261102393804317, 0.0261260563606666, 0.03255018359959254, -0.031107736135531326], "std": [0.6684316996731248, 0.8192368664887448, 0.0008406952964839178, 0.0, 0.0, 0.7928627349206426, 0.3195417263684543, 0.20781695577997886, 0.05685863903142747, 0.12747316480953125, 0.8661299416246611, 0.10124944721426468, 0.31500256757005635, 0.032303464565057526, 0.008923764288532223, 0.009863470087139793], "count": [2257]}, "action": {"min": [-1.0, -1.0, -0.5342857142857143, 0.0, -1.0, -1.0, -0.6928571428571428, -0.9571428571428572, -0.12285714285714287, -0.4657142857142857, -0.21142857142857144, -1.0], "max": [1.0, 1.0, 0.6914285714285714, 0.0, 1.0, 0.8857142857142857, 0.6500000000000001, 1.0, 0.2285714285714286, 0.4371428571428572, 0.30285714285714294, 1.0], "mean": [0.01996328881574785, -0.011823533135008535, 0.00872460282296349, 0.0, -0.07487815684536996, -0.0017406164947148417, -0.00614912336223812, -0.014662320400025327, -0.00012405848471422234, -0.0034749034749034773, 0.0005582631812140026, 0.02968542312804608], "std": [0.41932942799004225, 0.37863778769223916, 0.2055713869661546, 0.0, 0.9971926903198943, 0.42515878590280953, 0.10512470623751426, 0.30428465214905975, 0.025245908018686123, 0.07316789811454869, 0.038860964210345426, 0.9995592907145363], "count": [2257]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007089056074619293], "std": [0.08389756828546524], "count": [2257]}, "next.done": {"min": [false], "max": [true], "mean": [0.00044306601683650863], "std": [0.021044469804232017], "count": [2257]}, "timestamp": {"min": [0.0], "max": [112.8], "mean": [56.39999999999999], "std": [32.57698574147093], "count": [2257]}, "frame_index": {"min": [0], "max": [2256], "mean": [1128.0], "std": [651.5397148294185], "count": [2257]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2257]}, "index": {"min": [2130], "max": [4386], "mean": [3258.0], "std": [651.5397148294185], "count": [2257]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2257]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5994257410520246]], [[0.5763436324259552]], [[0.5253042387791949]]], "std": [[[0.19220750430631808]], [[0.19171961988063857]], [[0.20347568247057143]]], "count": [214]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5876536672185668]], [[0.5618678820838809]], [[0.5413844005996455]]], "std": [[[0.20626544919922085]], [[0.20917308901141698]], [[0.22127624579426441]]], "count": [214]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5581509495602874]], [[0.5368921985594763]], [[0.5192914680703253]]], "std": [[[0.2108468928883069]], [[0.21203225971187875]], [[0.22014570640214542]]], "count": [214]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1284]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1284]}, "observation.state": {"min": [1.9303301379626507, -2.141734987143009, 0.6999908412216251, 0.0, 0.0, -0.999996542930603, 0.002650594338774681, 0.02746558032231805, -0.2499942926206673, 0.26582564772593753, -0.9867165684700012, -0.1624709963798523, -0.5568371415138245, 4.211047325952677e-06, 0.011396758945810347, -0.040111007594882266], "max": [3.392848996641391, -1.042897898706013, 0.7006990687990923, 0.0, 0.0, 0.9996516704559326, 1.0, 0.6749775152681651, 0.13887889684161536, 0.8446599051883236, 0.9953615069389343, 0.17310062050819397, 0.5241217613220215, 0.11103128641843796, 0.04014936155931639, -0.010668154143479082], "mean": [2.54857963782006, -1.4798134131465055, 0.7001525974651877, 0.0, 0.0, 0.329538288181071, 0.8375446373927538, 0.23261127921160565, -0.06749484613714142, 0.5522118448809437, 0.21839402583529274, 0.0005658441963039826, 0.052478869399926235, 0.031220681726883224, 0.030501099718373524, -0.03109180919792877], "std": [0.5123508340634995, 0.3675449303753489, 0.00019163733940711343, 0.0, 0.0, 0.40419779465451555, 0.16293444318021658, 0.14462615992640485, 0.08354099384063393, 0.12849639698491136, 0.9133911162942581, 0.08539755786935203, 0.32624655335274244, 0.02370818031695453, 0.009435958217752198, 0.00950827445377014], "count": [1284]}, "action": {"min": [-1.0, -1.0, -0.9542857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.21714285714285717, -0.8057142857142856, -0.2142857142857143, -1.0], "max": [1.0, 1.0, 0.982857142857143, 0.0, 1.0, 1.0, 0.7428571428571429, 1.0, 0.4371428571428572, 0.6885714285714286, 0.22285714285714286, 1.0], "mean": [0.08588673787271921, 0.04211726746773476, 0.059414775255896786, 0.0, -0.10124610591900311, -0.0029761904761904856, -0.010013351134846468, 0.012700267022696929, 0.0018469069870939044, -0.005992434356920338, -0.001791277258566977, 0.017133956386292833], "std": [0.5490182434814626, 0.32995522005865324, 0.35593168129934166, 0.0, 0.9948614104669314, 0.5235522015571282, 0.21410193086012252, 0.43758252814403126, 0.03795787486112211, 0.14208797899825415, 0.03881700881230981, 0.999853202994596], "count": [1284]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012461058795452118], "std": [0.11093142628669739], "count": [1284]}, "next.done": {"min": [false], "max": [true], "mean": [0.000778816199376947], "std": [0.027896409172231025], "count": [1284]}, "timestamp": {"min": [0.0], "max": [64.15], "mean": [32.075], "std": [18.532938020364355], "count": [1284]}, "frame_index": {"min": [0], "max": [1283], "mean": [641.5], "std": [370.6587604072871], "count": [1284]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1284]}, "index": {"min": [4387], "max": [5670], "mean": [5028.5], "std": [370.6587604072871], "count": [1284]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1284]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.516776601134965]], [[0.5101402539607235]], [[0.49435684709632777]]], "std": [[[0.1900312706115415]], [[0.17515941832412008]], [[0.17906583536710313]]], "count": [290]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46974691539297564]], [[0.4908139677737676]], [[0.4923042106499456]]], "std": [[[0.20797876566842796]], [[0.19023393850084555]], [[0.1874650002302618]]], "count": [290]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4643557726877456]], [[0.4858661208497745]], [[0.48370698094448583]]], "std": [[[0.19195673105631605]], [[0.17730536416732914]], [[0.17540477467675047]]], "count": [290]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1924]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1924]}, "observation.state": {"min": [2.828566925689678, -1.77329323927833, 0.6999955647249246, 0.0, 0.0, 0.40199148654937744, 0.5825309753417969, -0.03287277269357758, -0.02993450561313038, 0.2607678163848426, -0.9886597394943237, -0.40241187810897827, -0.49259883165359497, 3.084099807892926e-05, 0.014411984758833901, -0.0405938400634976], "max": [3.895058519854101, -0.8258852247356634, 0.7036261634284151, 0.0, 0.0, 0.8128085732460022, 0.9156434535980225, 0.7903050556715425, 0.16626091934951015, 0.7677552923629454, 0.9979268908500671, 0.36474305391311646, 0.44567635655403137, 0.15493068099021912, 0.04054679230669538, -0.013706812416877073], "mean": [3.468422684793964, -1.1475696922857679, 0.7012353159262461, 0.0, 0.0, 0.6631680858048481, 0.7434091214516555, 0.2857204348467272, 0.05264508229142867, 0.5399657685702637, -0.07002120488274866, 0.05043536155502043, -0.029446063774275805, 0.05443159304497022, 0.036139595960196245, -0.03309851878554813], "std": [0.4228620858861542, 0.2593418502924461, 0.0011823095544241367, 0.0, 0.0, 0.06827079201795774, 0.05375928906652213, 0.24163115658057596, 0.035706197126768285, 0.12974271111184596, 0.935386575008487, 0.13808153214101224, 0.30619390333488733, 0.030889747291090938, 0.007064908615192145, 0.008495342257584446], "count": [1924]}, "action": {"min": [-1.0, -1.0, -0.6314285714285715, 0.0, -1.0, -1.0, -0.7285714285714285, -1.0, -0.26285714285714284, -0.4914285714285715, -0.23428571428571432, -1.0], "max": [1.0, 1.0, 0.6171428571428571, 0.0, 1.0, 1.0, 0.8357142857142857, 1.0, 0.18285714285714286, 0.36, 0.4514285714285714, 1.0], "mean": [0.028044253044253047, 0.045459607959607996, -0.009309474309474312, 0.0, -0.2920997920997921, -0.001659489159489148, 0.008750371250371251, -0.03068013068013067, -0.0006741906741906736, -0.006168696168696179, -0.00013662013662013976, -0.13201663201663202], "std": [0.3758672464233341, 0.35793406545014783, 0.15769439911962368, 0.0, 0.9563878457274735, 0.52695313793701, 0.1238680291882515, 0.30588711792273365, 0.030941693492864103, 0.08386120166111632, 0.05563917018832666, 0.9912475013189017], "count": [1924]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008316008374094963], "std": [0.09081219136714935], "count": [1924]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005197505197505198], "std": [0.022792112213389497], "count": [1924]}, "timestamp": {"min": [0.0], "max": [96.15], "mean": [48.075], "std": [27.770544197044465], "count": [1924]}, "frame_index": {"min": [0], "max": [1923], "mean": [961.5], "std": [555.4108839408893], "count": [1924]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1924]}, "index": {"min": [5671], "max": [7594], "mean": [6632.5], "std": [555.4108839408893], "count": [1924]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1924]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5199174511997682]], [[0.5036727240925976]], [[0.4862384411551361]]], "std": [[[0.1850097025133868]], [[0.18456324939322202]], [[0.19081947441224104]]], "count": [254]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5189592762826788]], [[0.49880263313975476]], [[0.4794766764002522]]], "std": [[[0.20763074853861693]], [[0.2152089734726833]], [[0.22267764419868083]]], "count": [254]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5082726781744087]], [[0.48778896546757694]], [[0.46937284200155055]]], "std": [[[0.21455906238949135]], [[0.22182381406003437]], [[0.22932521724134514]]], "count": [254]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1615]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1615]}, "observation.state": {"min": [4.915851363690966, -2.8032485487529084, 0.6999980102185048, 0.0, 0.0, -0.11727411299943924, 0.9923500418663025, -0.1023256188419106, -0.19975192510406659, 0.24406919852121256, -0.9982867240905762, -0.2363339364528656, -0.46120789647102356, 9.077334107132629e-05, 0.018993379249186232, -0.04031505788857337], "max": [5.959488594032703, -0.9397080517659647, 0.7020274685065478, 0.0, 0.0, 0.12345610558986664, 1.0, 0.6501398103767855, 0.18540839823554905, 0.748896730409398, 0.9874058365821838, 0.202793687582016, 0.49601274728775024, 0.12377657741308212, 0.040413136500212325, -0.014727828623332098], "mean": [5.5955936375794995, -2.0429231655440327, 0.7008765650264309, 0.0, 0.0, -0.04349549104141604, 0.9986031487630248, 0.22231266391745771, -0.0031214826901651304, 0.5296979255976781, -0.03475742358541341, -0.01613269971204985, -0.01999799672618001, 0.033636825927934176, 0.033750961593393615, -0.0347352097227896], "std": [0.30926748613359095, 0.7207662787392111, 0.0004393116990669212, 0.0, 0.0, 0.029974807702630626, 0.0011895539435586313, 0.1726166762987749, 0.05290603583550413, 0.12413157547948554, 0.9428573729153841, 0.09281995015830768, 0.314220785935298, 0.02588491779296927, 0.007084445386166484, 0.0067288181703157495], "count": [1615]}, "action": {"min": [-1.0, -1.0, -0.4028571428571428, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2571428571428571, -0.3314285714285714, -0.36857142857142855, -1.0], "max": [1.0, 1.0, 0.4942857142857143, 0.0, 1.0, 1.0, 0.7571428571428572, 1.0, 0.2142857142857143, 0.40571428571428575, 0.4828571428571429, 1.0], "mean": [0.02960194604157451, 0.04021671826625388, -0.004067226890756306, 0.0, -0.21362229102167182, -0.003551525873507303, -0.008938522777532067, -0.0011543564794338872, -3.8668758597625424e-20, -0.0018699690402476752, -0.002613003095975232, -0.031578947368421054], "std": [0.44648672366125897, 0.43481244947623277, 0.07583157675080618, 0.0, 0.9769163304903073, 0.4747801377834034, 0.15136433659314505, 0.35722895113619124, 0.027780835394012778, 0.07694899896879887, 0.05977325822375379, 0.9995012606711012], "count": [1615]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00990712083876133], "std": [0.09904024004936218], "count": [1615]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006191950464396285], "std": [0.024875924986502373], "count": [1615]}, "timestamp": {"min": [0.0], "max": [80.7], "mean": [40.35], "std": [23.310512649875378], "count": [1615]}, "frame_index": {"min": [0], "max": [1614], "mean": [807.0], "std": [466.21025299750755], "count": [1615]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1615]}, "index": {"min": [7595], "max": [9209], "mean": [8402.0], "std": [466.21025299750755], "count": [1615]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1615]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5144723885543877]], [[0.5137822408773269]], [[0.5057714281083603]]], "std": [[[0.23656298008441243]], [[0.22315253940629984]], [[0.22843614616173147]]], "count": [258]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44727694558814624]], [[0.4640998120183984]], [[0.46485418692822333]]], "std": [[[0.24281474711307555]], [[0.22618712406117736]], [[0.22373805524185605]]], "count": [258]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4737965841390457]], [[0.49540841165946453]], [[0.4975844977419868]]], "std": [[[0.2405652210121315]], [[0.21889976355926075]], [[0.2152243077888312]]], "count": [258]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1648]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1648]}, "observation.state": {"min": [4.321795207655162, -4.337958209730698, 0.6999975048694433, 0.0, 0.0, -0.09144297242164612, 0.9958103895187378, -0.04317846879530851, -0.20289385874944044, 0.2523069281170063, -0.9986712336540222, -0.18440192937850952, -0.36930713057518005, 0.0001210051923408173, 0.0028779078863884647, -0.040582355822926734], "max": [4.925388774772416, -1.7788998954903843, 0.7031291046314216, 0.0, 0.0, 0.023274965584278107, 1.0, 0.4619575530399498, 0.06550325394334378, 0.7526664931545687, 0.9780370593070984, 0.2414703667163849, 0.41248953342437744, 0.08331983536481857, 0.04000608270110302, -0.0111434425067775], "mean": [4.683979082905464, -3.113634069728984, 0.7014417123580218, 0.0, 0.0, -0.008738346314346722, 0.9996774692124534, 0.14429345720554967, -0.07401619067157195, 0.5490004302690067, 0.5029111543977723, 0.046989563230913384, 0.16799301784982887, 0.029139273311543944, 0.02671417756168033, -0.02679541837969319], "std": [0.18577906519997298, 1.0584140428544255, 0.0009128444676857453, 0.0, 0.0, 0.023837713337939586, 0.0006206835089085577, 0.13558418189876692, 0.06079542156979926, 0.12780903048104247, 0.8050815343676168, 0.09887234768601048, 0.2395247475453909, 0.022304212544711603, 0.011767613684931852, 0.012351923375791038], "count": [1648]}, "action": {"min": [-1.0, -1.0, -0.18285714285714286, 0.0, -1.0, -1.0, -0.5785714285714286, -0.8, -0.21142857142857144, -0.34, -0.19428571428571428, -1.0], "max": [0.9928571428571428, 1.0, 0.34, 0.0, 1.0, 0.7714285714285714, 0.5571428571428572, 1.0, 0.13428571428571429, 0.2485714285714286, 0.18285714285714286, 1.0], "mean": [0.02273318307905687, 0.03965412621359224, -0.0020058945908460473, 0.0, -0.1650485436893204, -0.010263522884882104, -0.0015386615811373147, -0.03587031900138694, -0.0030287794729542297, -0.011142510402219145, -0.0010766296809986112, 0.04004854368932039], "std": [0.2887850768749142, 0.515965974326009, 0.03854436772171059, 0.0, 0.9862854445980817, 0.37236423597749274, 0.10096690029731688, 0.33001417016721224, 0.023267495062583028, 0.06646299348174703, 0.037943010626117116, 0.9991977352598278], "count": [1648]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009708737954497337], "std": [0.09805344045162201], "count": [1648]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006067961165048543], "std": [0.02462575714527066], "count": [1648]}, "timestamp": {"min": [0.0], "max": [82.35], "mean": [41.175], "std": [23.786826711438415], "count": [1648]}, "frame_index": {"min": [0], "max": [1647], "mean": [823.5], "std": [475.7365342287683], "count": [1648]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1648]}, "index": {"min": [9210], "max": [10857], "mean": [10033.5], "std": [475.7365342287683], "count": [1648]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1648]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5152247511291367]], [[0.4956035047393315]], [[0.47034747731409204]]], "std": [[[0.16431918163148218]], [[0.16031539519263252]], [[0.17153429453297936]]], "count": [219]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5784277019147236]], [[0.5703099518136485]], [[0.5489500097861723]]], "std": [[[0.19487247572946392]], [[0.19309659458326225]], [[0.18787625670353672]]], "count": [219]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5394655407825231]], [[0.5325858808202041]], [[0.5167374549337697]]], "std": [[[0.20894354090325945]], [[0.20637377199426146]], [[0.20046907842495304]]], "count": [219]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1327]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1327]}, "observation.state": {"min": [4.753459484312893, -2.8026129210930706, 0.6999819051119666, 0.0, 0.0, -0.1786615401506424, 0.8685203194618225, 0.10417467413056336, -0.2884568654155757, 0.2653631609488214, -0.9880439639091492, -0.1973852515220642, -0.7731763124465942, 0.0003377247485332191, 0.020252526331476044, -0.04032988178262146], "max": [5.918460975460536, -0.8450222553116025, 0.7003783219798515, 0.0, 0.0, 0.4956536293029785, 1.0, 0.5973343566121345, 0.0880561999647651, 0.8345773296641334, 0.9909842014312744, 0.182153582572937, 0.41297104954719543, 0.21348720788955688, 0.04001294775417779, -0.015824144014337408], "mean": [5.537982559252174, -2.1281507807301745, 0.7001118795174142, 0.0, 0.0, 0.014660726032016319, 0.9959427727373723, 0.2684033761444725, -0.12053044720561208, 0.534012316046686, 0.33673724947608136, -0.05899807261675035, 0.08381253535934383, 0.0378864384216387, 0.03377381562231817, -0.03415910268317492], "std": [0.31965946884816926, 0.642996313457346, 0.00011059366208037223, 0.0, 0.0, 0.08742203262485608, 0.015506812574724865, 0.13873978322653868, 0.07891589897999386, 0.09806303366226475, 0.8750574353199051, 0.08788342260277777, 0.3171249584801479, 0.0254966687612499, 0.0073282497935999785, 0.0078627719487496], "count": [1327]}, "action": {"min": [-1.0, -1.0, -0.6628571428571428, 0.0, -1.0, -1.0, -1.0, -1.0, -0.24571428571428575, -0.6171428571428571, -0.2485714285714286, -1.0], "max": [1.0, 1.0, 0.8228571428571428, 0.0, 1.0, 1.0, 0.7857142857142857, 1.0, 0.26, 0.4371428571428572, 0.4, 1.0], "mean": [0.07350091506082465, 0.008795349337926594, 0.0026095381634190984, 0.0, -0.11529766390354182, 0.006981375820863374, -0.01016794057487351, 0.012966950156098604, 0.0017849068791043169, -0.009846054473032622, -0.0014684034879965569, -0.17407686510926904], "std": [0.5588846606511573, 0.45190541750488417, 0.1554153577747013, 0.0, 0.9933309864785108, 0.5001827220137732, 0.18493651015727242, 0.37035408600934666, 0.030798857772498887, 0.10266210074023724, 0.048223567498496184, 0.9847320676375624], "count": [1327]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012057271786034107], "std": [0.10914164036512375], "count": [1327]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007535795026375283], "std": [0.02744105720577713], "count": [1327]}, "timestamp": {"min": [0.0], "max": [66.3], "mean": [33.150000000000006], "std": [19.153589741873454], "count": [1327]}, "frame_index": {"min": [0], "max": [1326], "mean": [663.0], "std": [383.0717948374691], "count": [1327]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1327]}, "index": {"min": [10858], "max": [12184], "mean": [11521.0], "std": [383.0717948374691], "count": [1327]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1327]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5140032382121313]], [[0.46346444942551784]], [[0.4483818429501392]]], "std": [[[0.21351285666616665]], [[0.2112512648145423]], [[0.21174051128016377]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4935960673203286]], [[0.44454963140812453]], [[0.412987979958465]]], "std": [[[0.24545984086374426]], [[0.23635500701854975]], [[0.226739584908128]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4931402423597506]], [[0.4339850809880045]], [[0.4133775800948377]]], "std": [[[0.2596304885079834]], [[0.25640296091299275]], [[0.24763176396465167]]], "count": [228]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1395]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1395]}, "observation.state": {"min": [1.8710179312840625, -1.8112557646265386, 0.69999515911886, 0.0, 0.0, 0.6208820939064026, 0.6933278441429138, -0.062191842965396926, -0.13366572543104271, 0.2727387926277349, -0.9910089373588562, -0.22920575737953186, -0.4782217741012573, 0.0001544833357911557, 0.015527789287435813, -0.040594445396261634], "max": [3.654428754364497, -0.8527106597576701, 0.7023494958267226, 0.0, 0.0, 0.7206223011016846, 0.783903956413269, 0.6320921800644352, 0.09407707727505432, 0.7682939240206141, 0.9832430481910706, 0.2826668322086334, 0.43155524134635925, 0.09176472574472427, 0.04030139256225656, -0.02051944105128218], "mean": [3.0650537636857007, -1.1228389755461494, 0.7010181163009788, 0.0, 0.0, 0.6743250991281216, 0.7374440414076637, 0.24280212912592997, -0.013853492067035613, 0.5934209591902169, 0.08256244509878125, 0.0498745315391103, 0.014402237128613243, 0.03425337435164627, 0.03461183777694459, -0.0361104518178207], "std": [0.6482095885016733, 0.24109231436032202, 0.0006837042940149643, 0.0, 0.0, 0.028195129172754622, 0.02582592329710373, 0.19677819057737247, 0.043191064489749874, 0.13773024551154894, 0.9256408478186624, 0.12854540125710048, 0.33960237317254505, 0.025506628338596547, 0.006575883645956621, 0.004143114490813775], "count": [1395]}, "action": {"min": [-1.0, -1.0, -0.23428571428571432, 0.0, -1.0, -1.0, -0.8714285714285716, -1.0, -0.23142857142857146, -0.4885714285714286, -0.15714285714285714, -1.0], "max": [1.0, 1.0, 0.23428571428571432, 0.0, 1.0, 1.0, 0.5142857142857143, 1.0, 0.25142857142857145, 0.24285714285714288, 0.38285714285714284, 1.0], "mean": [0.02004096262160779, 0.03206861239119303, -0.0026912442396313345, 0.0, -0.3419354838709677, 0.0074398361495135595, -0.010721966205837184, -0.020849974398361483, 0.0008991295442908342, -0.004043010752688177, 0.0016671786994367642, -0.07956989247311828], "std": [0.4282725683565723, 0.4213532177367452, 0.04478969603480174, 0.0, 0.9397234299888154, 0.5824464428980979, 0.13762895328776037, 0.38595239500540535, 0.03664927460688463, 0.08750385414656792, 0.05598629992132816, 0.9968292894030657], "count": [1395]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01075268816202879], "std": [0.10313616693019867], "count": [1395]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007168458781362007], "std": [0.026764379501927553], "count": [1395]}, "timestamp": {"min": [0.0], "max": [69.7], "mean": [34.85], "std": [20.135085464598028], "count": [1395]}, "frame_index": {"min": [0], "max": [1394], "mean": [697.0], "std": [402.70170929196047], "count": [1395]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1395]}, "index": {"min": [12185], "max": [13579], "mean": [12882.0], "std": [402.70170929196047], "count": [1395]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1395]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5556835324156518]], [[0.5161471759571749]], [[0.4942633173824136]]], "std": [[[0.2042873182702679]], [[0.20528450329618073]], [[0.20645195301621933]]], "count": [240]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5418280343448414]], [[0.4905776339262919]], [[0.45879432528626685]]], "std": [[[0.24119211325553302]], [[0.263121776811802]], [[0.28098648601492104]]], "count": [240]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5439035198735256]], [[0.4756441118826274]], [[0.43536572250665406]]], "std": [[[0.2304119723613043]], [[0.260042659256168]], [[0.28209864626039727]]], "count": [240]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1495]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1495]}, "observation.state": {"min": [2.2519054504143634, -1.6335990062983594, 0.6999982313631498, 0.0, 0.0, 0.6642167568206787, 0.6313587427139282, -0.010824373427297918, -0.07367766976755874, 0.24789538238556974, -0.9926549792289734, -0.1645185351371765, -0.4811556935310364, 1.9525048628565855e-05, 0.017646741885007654, -0.03997567278726992], "max": [3.374619474433762, -0.7484528289747026, 0.7028641372453249, 0.0, 0.0, 0.775490939617157, 0.7475400567054749, 0.64832614915972, 0.2454804574688252, 0.6573728519193398, 0.9857040047645569, 0.16797363758087158, 0.4543977975845337, 0.08004894852638245, 0.04028773346444893, -0.012700380267331739], "mean": [2.7604136283523513, -1.0452232297026154, 0.7011765916851633, 0.0, 0.0, 0.709103597087605, 0.7042853287629858, 0.21174688797338265, 0.04144348415632075, 0.5058031149330224, 0.15719903225085408, -0.022692599498906663, 0.047826818787932, 0.021830947989438333, 0.03322197463223428, -0.03096452960721259], "std": [0.4415929083671246, 0.26664831426417557, 0.0009061076819427894, 0.0, 0.0, 0.02367156188846388, 0.0243704745786509, 0.15178295021864546, 0.06551912336433467, 0.09670757123712387, 0.937091496734591, 0.07396237059917461, 0.29663765613339055, 0.02011738017450411, 0.007447047045584928, 0.008559741334623597], "count": [1495]}, "action": {"min": [-1.0, -1.0, -0.26571428571428574, 0.0, -1.0, -1.0, -1.0, -1.0, -0.16285714285714287, -0.4885714285714286, -0.1742857142857143, -1.0], "max": [1.0, 1.0, 0.24571428571428575, 0.0, 1.0, 0.8428571428571429, 0.6357142857142857, 1.0, 0.1657142857142857, 0.5457142857142857, 0.22, 1.0], "mean": [0.019283325370281896, -0.012852365026278059, -0.0006650740563784054, 0.0, -0.28561872909699, -0.008939321548017187, 0.0024796942188246556, -0.021127568084089846, -0.000999522216913521, -0.0071801242236024816, -0.000915432393693263, 0.015384615384615385], "std": [0.39986893584433203, 0.3407244647124201, 0.050753061842173916, 0.0, 0.9583433317913841, 0.43393417488801844, 0.18326984988034598, 0.3216274452531196, 0.02177190001134783, 0.08006623071183469, 0.03446723153773954, 0.9998816498013399], "count": [1495]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010702340863645077], "std": [0.102897047996521], "count": [1495]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006688963210702341], "std": [0.025854378715836374], "count": [1495]}, "timestamp": {"min": [0.0], "max": [74.7], "mean": [37.35], "std": [21.578461483618334], "count": [1495]}, "frame_index": {"min": [0], "max": [1494], "mean": [747.0], "std": [431.5692296723667], "count": [1495]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1495]}, "index": {"min": [13580], "max": [15074], "mean": [14327.0], "std": [431.5692296723667], "count": [1495]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1495]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09019607843137255]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5942878367095079]], [[0.567454410346249]], [[0.5558329560202772]]], "std": [[[0.18156457156296849]], [[0.19720768478903017]], [[0.20789131270233457]]], "count": [271]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.058823529411764705]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5553775008736846]], [[0.539757965818758]], [[0.5263626426529516]]], "std": [[[0.1971967303156237]], [[0.1947012636490628]], [[0.1962294031224764]]], "count": [271]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5562162301723402]], [[0.5426857387111325]], [[0.5310622189671316]]], "std": [[[0.1958174646085531]], [[0.19540234735218304]], [[0.19877917239677104]]], "count": [271]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1759]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1759]}, "observation.state": {"min": [0.48660482517245474, -4.574544883518731, 0.6999953881609623, 0.0, 0.0, -0.7554722428321838, 0.6551806926727295, -0.11528687376912661, -0.17779883398906526, 0.24816119724369268, -0.9880876541137695, -0.2586134374141693, -0.48570963740348816, 2.136008333764039e-05, 0.004600263658805646, -0.04035641347838199], "max": [1.6636668070140188, -3.4654886199485806, 0.7046114184253047, 0.0, 0.0, -0.6892490386962891, 0.7245244383811951, 0.6540722035105997, 0.15677228132145649, 0.718413839878546, 0.9925789833068848, 0.2717055380344391, 0.46608152985572815, 0.15036724507808685, 0.040505168132408904, -0.006435410704784563], "mean": [1.1765167254629083, -4.2521399289462, 0.7028890830224597, 0.0, 0.0, -0.7229841103805881, 0.6905490607955092, 0.17956277924342448, -0.015575278307503583, 0.5733547897846746, 0.16704109800749709, 0.03501734276465762, 0.06740604069522323, 0.041206744234672535, 0.030589695539791486, -0.03220069395973489], "std": [0.47517957620566137, 0.2866566311181608, 0.001365863136155637, 0.0, 0.0, 0.014287414673745502, 0.015226072775459048, 0.22115562117123128, 0.06764903853824256, 0.13141847381684782, 0.9267749280445926, 0.12197027472343455, 0.29940273706631854, 0.03462619241767547, 0.011844581955823094, 0.011167229580435485], "count": [1759]}, "action": {"min": [-1.0, -1.0, -0.14, 0.0, -1.0, -1.0, -1.0, -1.0, -0.19142857142857142, -0.44571428571428573, -0.2057142857142857, -1.0], "max": [1.0, 1.0, 0.2257142857142857, 0.0, 1.0, 0.8428571428571429, 0.5428571428571429, 1.0, 0.2885714285714286, 0.2285714285714286, 0.3171428571428571, 1.0], "mean": [0.021517907902217165, -0.015905953057743845, -0.0023942174937058407, 0.0, -0.3757816941444002, -0.003061804596767646, -0.003853650613173077, -0.035925444651993876, -0.0002485178266872419, -0.004601640542516042, 0.0035182327621213366, -0.14724275156338829], "std": [0.4055382900356613, 0.3336573707467814, 0.02848772138122818, 0.0, 0.9267082164014596, 0.4978106047893445, 0.15154690406402793, 0.34579446038141615, 0.03661994339719074, 0.07859429813638667, 0.04654432167376771, 0.9891003852552167], "count": [1759]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009096077643334866], "std": [0.09493860602378845], "count": [1759]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005685048322910744], "std": [0.02383656087917752], "count": [1759]}, "timestamp": {"min": [0.0], "max": [87.9], "mean": [43.95], "std": [25.388973984783238], "count": [1759]}, "frame_index": {"min": [0], "max": [1758], "mean": [879.0], "std": [507.77947969566475], "count": [1759]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1759]}, "index": {"min": [15075], "max": [16833], "mean": [15954.0], "std": [507.77947969566475], "count": [1759]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1759]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49796366777341483]], [[0.4756136394872067]], [[0.4480537769509269]]], "std": [[[0.20472121297310253]], [[0.1945627215703131]], [[0.19378766404777809]]], "count": [338]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47095653685744476]], [[0.4969474336611089]], [[0.49934057281526006]]], "std": [[[0.21791623751795414]], [[0.17950175424595854]], [[0.1671839789914883]]], "count": [338]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47939260402900297]], [[0.4920259119200449]], [[0.48732333406244105]]], "std": [[[0.21519176629181622]], [[0.18727629035618282]], [[0.1769563524958288]]], "count": [338]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2356]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2356]}, "observation.state": {"min": [0.804523500896278, -3.427284399997982, 0.6999944011918218, 0.0, 0.0, -1.0, 9.670920775306513e-08, -0.07120183969316574, -0.22111042109347778, 0.24903362997191658, -0.9949087500572205, -0.2707965075969696, -0.5117207765579224, 3.467549686320126e-05, 0.00467540539515921, -0.04040515759524682], "max": [1.9794669889038894, -1.3522752869889207, 0.7072850457082773, 0.0, 0.0, 1.0, 0.8067368865013123, 0.8248086109097261, 0.14350027466421778, 0.7539278432305861, 0.9892126321792603, 0.26105713844299316, 0.5084072947502136, 0.21740520000457764, 0.040280669647444214, -0.010702554448795054], "mean": [1.293144086580663, -2.4952149253554525, 0.7027267772163887, 0.0, 0.0, 0.46150689828881586, 0.21907978124119512, 0.14919859717194583, 0.004164204401998482, 0.5848154966386843, -0.13044022296907945, 0.019466982803391278, 0.00800581152194317, 0.024608692111046375, 0.033022971270910174, -0.031791855938831444], "std": [0.3638713837843332, 0.6548033969142935, 0.0020148070642612747, 0.0, 0.0, 0.8206891619076977, 0.25589985513230834, 0.22129011516907082, 0.049171379708821565, 0.13380304485240424, 0.927490965293873, 0.12168899568204854, 0.32594314200601965, 0.025496452708100664, 0.009546438912177041, 0.009524689224162086], "count": [2356]}, "action": {"min": [-1.0, -0.7000000000000001, -0.8542857142857143, 0.0, -1.0, -1.0, -0.6642857142857144, -1.0, -0.34, -0.5114285714285715, -0.25142857142857145, -1.0], "max": [1.0, 1.0, 0.8371428571428572, 0.0, 1.0, 1.0, 1.0, 1.0, 0.18, 0.4371428571428572, 0.22285714285714286, 1.0], "mean": [0.1351837254426388, 0.02041899102595198, -0.0038624787775891523, 0.0, -0.027164685908319185, -0.00419294203250062, 0.009662260489934514, -0.024796871210283733, -0.003446519524617994, 0.0005675479020130968, 2.425418384672049e-06, -0.03735144312393888], "std": [0.4819491665739856, 0.2270761337199847, 0.3127562685159231, 0.0, 0.9996309718288561, 0.44423273119983336, 0.14922532283298262, 0.3597941575947013, 0.03486622243254643, 0.09623538261739085, 0.04412122355800449, 0.9993021913798528], "count": [2356]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006791171617805958], "std": [0.08212826400995255], "count": [2356]}, "next.done": {"min": [false], "max": [true], "mean": [0.00042444821731748726], "std": [0.020597768350680695], "count": [2356]}, "timestamp": {"min": [0.0], "max": [117.75], "mean": [58.875], "std": [34.005927792077664], "count": [2356]}, "frame_index": {"min": [0], "max": [2355], "mean": [1177.5], "std": [680.1185558415533], "count": [2356]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2356]}, "index": {"min": [16834], "max": [19189], "mean": [18011.5], "std": [680.1185558415533], "count": [2356]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2356]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6507730925721217]], [[0.6355010560451306]], [[0.6076615800370684]]], "std": [[[0.2071147518977533]], [[0.19836535380740272]], [[0.2079161975714506]]], "count": [222]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6189372283876248]], [[0.6014351040709253]], [[0.5824054674216956]]], "std": [[[0.23842173084940257]], [[0.22562727919657405]], [[0.21407681407194154]]], "count": [222]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6299526988859838]], [[0.6162980818702146]], [[0.6007939395119499]]], "std": [[[0.22312051012638368]], [[0.2143085994492853]], [[0.2073033577115037]]], "count": [222]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1346]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1346]}, "observation.state": {"min": [4.685010877762808, -1.4672794739515964, 0.69993134222366, 0.0, 0.0, -0.6192068457603455, 0.7852279543876648, 0.02712837791429834, -0.22054735513384416, 0.2807574743043696, -0.9966249465942383, -0.35055011510849, -0.5751257538795471, 3.4690176107687876e-05, 0.01772842737651771, -0.04014459849080856], "max": [5.8845569476888375, 0.7572364029264596, 0.7002347244652932, 0.0, 0.0, 0.4322379529476166, 1.0, 0.6886873584316255, 0.0014081524600169093, 0.807738376068579, 0.9969120025634766, 0.3538353741168976, 0.6078579425811768, 0.12563495337963104, 0.04017096615398909, -0.01529945900403858], "mean": [5.4880783125488, -0.6213445226764907, 0.7000412015573035, 0.0, 0.0, -0.02015268149262369, 0.980019668811852, 0.2487696955544054, -0.11055213993589279, 0.5369341988341276, 0.2944674656614329, -0.04869567165026693, 0.07758632599532515, 0.02803458552082406, 0.03415857582396231, -0.032078252653158924], "std": [0.31128153730201313, 0.8403112019627446, 5.6600145785904636e-05, 0.0, 0.0, 0.19236602526745508, 0.0463750925928564, 0.1438797369895292, 0.04318813804927354, 0.10399648774317703, 0.8774440306426368, 0.1874466733206116, 0.3139557983464987, 0.022350438253491183, 0.007460262817542006, 0.009193934486920885], "count": [1346]}, "action": {"min": [-1.0, -1.0, -0.982857142857143, 0.0, -1.0, -1.0, -0.6857142857142858, -1.0, -0.39714285714285713, -0.8942857142857144, -0.29428571428571426, -1.0], "max": [1.0, 1.0, 0.7742857142857142, 0.0, 1.0, 1.0, 0.8714285714285716, 1.0, 0.22285714285714286, 0.78, 0.4371428571428572, 1.0], "mean": [0.15342814689025683, 0.0636170664402462, 0.004262364678412228, 0.0, -0.01634472511144131, 0.004319677350880948, -0.0033909997877308333, 0.008389938441944387, -0.001451921035873486, -0.008760348121417958, -0.0020101889195499904, -0.1277860326894502], "std": [0.531066085178674, 0.44505953125809844, 0.297225063434108, 0.0, 0.9998664160581707, 0.46877997744331945, 0.1554307506301855, 0.3732036135025761, 0.043295039470557385, 0.1496783932427858, 0.05142672718235142, 0.9918017593498686], "count": [1346]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011887072585523129], "std": [0.10837790369987488], "count": [1346]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007429420505200594], "std": [0.027246836286615526], "count": [1346]}, "timestamp": {"min": [0.0], "max": [67.25], "mean": [33.625], "std": [19.427831196507753], "count": [1346]}, "frame_index": {"min": [0], "max": [1345], "mean": [672.5], "std": [388.5566239301551], "count": [1346]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1346]}, "index": {"min": [19190], "max": [20535], "mean": [19862.5], "std": [388.5566239301551], "count": [1346]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1346]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5950836111904156]], [[0.5622345704060818]], [[0.5310395533367541]]], "std": [[[0.19770418650796623]], [[0.2022404568933607]], [[0.21233109593259655]]], "count": [266]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5722333329662045]], [[0.5122205052354001]], [[0.47398682697919836]]], "std": [[[0.22938243475336204]], [[0.2599472915608844]], [[0.28240862836646813]]], "count": [266]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5553220015262478]], [[0.4775271164181133]], [[0.43162124028656484]]], "std": [[[0.2203177580276423]], [[0.2581114700695312]], [[0.28506071799187815]]], "count": [266]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1716]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1716]}, "observation.state": {"min": [0.8259237738985703, -4.745019003028823, 0.6999973640385487, 0.0, 0.0, -1.0, 4.514719876169693e-06, -0.04821209210135047, -0.16828199652562148, 0.2665380150236417, -0.9899463057518005, -0.14209935069084167, -0.48526129126548767, 4.775311936100479e-06, 0.01770976250151184, -0.04020880095860925], "max": [1.7756280645231282, -3.2877586662824205, 0.7021549204214976, 0.0, 0.0, 1.0, 0.2825707495212555, 0.6467743736466048, 0.17971205942122737, 0.8227309004104212, 0.998794436454773, 0.35222190618515015, 0.49435195326805115, 0.15946079790592194, 0.04006940435111818, -0.01927022473703981], "mean": [1.098115013544173, -4.137341791507211, 0.7008717323053102, 0.0, 0.0, -0.6621822644294281, 0.023806437909884407, 0.21126920193688858, -0.03245891568016715, 0.5953130603853283, 0.18948010950933247, 0.040596606235925134, 0.10171718136483417, 0.029602619524293414, 0.034625956994300176, -0.034980645115745994], "std": [0.2531204096317529, 0.5701350826537314, 0.0008030418376093835, 0.0, 0.0, 0.7480365491539264, 0.03727269482010105, 0.1802044127127178, 0.062294114413179905, 0.15003172613785204, 0.9065217702274423, 0.13245076050165097, 0.33280600587426873, 0.033789664550702404, 0.006624070205323034, 0.006135587346907932], "count": [1716]}, "action": {"min": [-1.0, -1.0, -0.48, 0.0, -1.0, -1.0, -0.7857142857142857, -1.0, -0.18571428571428572, -0.5171428571428571, -0.35428571428571426, -1.0], "max": [1.0, 1.0, 0.5142857142857142, 0.0, 1.0, 0.7428571428571429, 0.7571428571428572, 1.0, 0.3142857142857143, 0.23714285714285716, 0.20285714285714287, 1.0], "mean": [0.023601398601398597, -0.007858807858807857, 0.0004945054945054969, 0.0, -0.358974358974359, -0.0022186147186147405, 0.005211455211455204, -0.01455211455211454, -0.0009590409590409596, -0.005899100899100893, -0.0007276057276057273, -0.10606060606060606], "std": [0.36742731361986924, 0.365495758870383, 0.06531876498888307, 0.0, 0.9333474217026161, 0.47097140288511263, 0.13110462528679093, 0.3392113337091308, 0.036459338593041575, 0.08479655833385207, 0.04796450017192038, 0.9943596672442245], "count": [1716]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009324009530246258], "std": [0.09610968828201294], "count": [1716]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005827505827505828], "std": [0.024133192588401697], "count": [1716]}, "timestamp": {"min": [0.0], "max": [85.75], "mean": [42.875], "std": [24.768322342594516], "count": [1716]}, "frame_index": {"min": [0], "max": [1715], "mean": [857.5], "std": [495.3664468518903], "count": [1716]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1716]}, "index": {"min": [20536], "max": [22251], "mean": [21393.5], "std": [495.3664468518903], "count": [1716]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1716]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44970303457754635]], [[0.4300055024722563]], [[0.4233759167241115]]], "std": [[[0.21605401012842626]], [[0.21276478830974438]], [[0.21489672493483336]]], "count": [225]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3863045851098686]], [[0.3729113580707891]], [[0.3600159694031692]]], "std": [[[0.22115265950497645]], [[0.21923529297028585]], [[0.2203008231734177]]], "count": [225]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40255113309972423]], [[0.3886377160564747]], [[0.3777377650441687]]], "std": [[[0.23781947391388356]], [[0.23692465596027273]], [[0.23862011288132118]]], "count": [225]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1372]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1372]}, "observation.state": {"min": [0.4742747870404841, -4.503339048441044, 0.6999942961034973, 0.0, 0.0, -0.765657365322113, 0.6432486176490784, -0.06621374676366898, -0.23720231066413233, 0.2545162665305293, -0.9877260327339172, -0.21011346578598022, -0.5025013089179993, 0.00032439082860946655, 0.016844613170726157, -0.040550428882800825], "max": [1.6911666677817263, -3.499801711061858, 0.7032255725009555, 0.0, 0.0, -0.6845141649246216, 0.7289995551109314, 0.6336120998150836, 0.09884395312855565, 0.792070800423626, 0.9902211427688599, 0.3513081967830658, 0.5415870547294617, 0.17882049083709717, 0.04020378449813964, -0.01839394482325091], "mean": [1.10146348024303, -4.189710673194249, 0.7009402249415033, 0.0, 0.0, -0.7220944489403994, 0.6913889285079244, 0.2262669723949505, -0.04781644587991503, 0.5621944599855444, 0.4018391915556293, 0.059933412385664596, 0.13864885580131334, 0.04789885562024831, 0.03089315802476197, -0.03329311933530929], "std": [0.4918312390923266, 0.2941624811858783, 0.0008431914421215539, 0.0, 0.0, 0.016261297518584482, 0.01721971132053165, 0.18819178830034142, 0.05667948279150044, 0.13124786614772904, 0.8345577704705307, 0.11896527893241392, 0.318152585640149, 0.03943304485779026, 0.009197930803701642, 0.007815371536936769], "count": [1372]}, "action": {"min": [-1.0, -1.0, -0.36857142857142855, 0.0, -1.0, -1.0, -0.8857142857142857, -1.0, -0.19142857142857142, -0.6114285714285714, -0.35714285714285715, -1.0], "max": [1.0, 1.0, 0.3657142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.42, 0.31142857142857144, 0.3857142857142858, 1.0], "mean": [0.012630154102457308, -0.021371303623490212, -0.0006747188671386931, 0.0, -0.30029154518950435, 0.001639941690962092, -0.00022907122032486885, -0.013905664306538962, 0.001570179092044982, -0.004770928779675137, -0.005418575593502709, -0.056851311953352766], "std": [0.45922684824804955, 0.390320028325978, 0.05823321898762084, 0.0, 0.9538474657342803, 0.5739975273702933, 0.19402869175153417, 0.4156799270056239, 0.05924534987447741, 0.09818745968903467, 0.06469444331208123, 0.9983826562642041], "count": [1372]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011661808006465435], "std": [0.10735832154750824], "count": [1372]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007288629737609329], "std": [0.026987621839028596], "count": [1372]}, "timestamp": {"min": [0.0], "max": [68.55], "mean": [34.275], "std": [19.80310897308804], "count": [1372]}, "frame_index": {"min": [0], "max": [1371], "mean": [685.5], "std": [396.06217946176076], "count": [1372]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1372]}, "index": {"min": [22252], "max": [23623], "mean": [22937.5], "std": [396.06217946176076], "count": [1372]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1372]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5362698617348585]], [[0.5081715324263901]], [[0.4864069086413748]]], "std": [[[0.20637335991777542]], [[0.21193986501404377]], [[0.22669466589214832]]], "count": [257]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5639368566139218]], [[0.5381839090075019]], [[0.5156107628873915]]], "std": [[[0.2523991565721468]], [[0.24337808701966032]], [[0.24337591455044866]]], "count": [257]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5390549824823001]], [[0.5117761683098427]], [[0.4886280914606997]]], "std": [[[0.24970143674927361]], [[0.24201618653002002]], [[0.24243946245202028]]], "count": [257]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1634]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1634]}, "observation.state": {"min": [3.946109636838196, -1.8024411028237328, 0.6999978351180844, 0.0, 0.0, 0.26693519949913025, 0.46854937076568604, -0.09277961460920525, -0.15335539740200144, 0.25785643566082195, -0.997197151184082, -0.17193594574928284, -0.48415982723236084, 4.6191460569389164e-05, 0.006377825965233315, -0.04016103641192794], "max": [6.210083166327853, -0.7474357573011583, 0.7036164671884577, 0.0, 0.0, 0.8834373950958252, 0.9637145400047302, 0.5825928700138445, 0.0912195041282553, 0.7814236581899767, 0.9853041172027588, 0.12112168967723846, 0.4246763288974762, 0.10294276475906372, 0.04083185891098069, -0.0017773581201707134], "mean": [5.385238582934047, -1.1800325574951172, 0.7015674298241563, 0.0, 0.0, 0.689044660552333, 0.7191984648913181, 0.23071483169821813, -0.012070115604459742, 0.5618437954711127, -0.8057751589189107, -0.023787603707872376, -0.28996179064318556, 0.02751365708980863, 0.025069167576105077, -0.024692269486227873], "std": [0.7814329719225566, 0.3547102215625379, 0.0013613218376539742, 0.0, 0.0, 0.06940023179413575, 0.05616609079715579, 0.12890628934437667, 0.04409949965270806, 0.13954450624472609, 0.47606906071596766, 0.060268385097516315, 0.18643061670363545, 0.017184291543087694, 0.014320544567948793, 0.014867131978793415], "count": [1634]}, "action": {"min": [-1.0, -1.0, -0.5485714285714286, 0.0, -1.0, -1.0, -0.6785714285714286, -1.0, -0.08, -0.5142857142857142, -0.16285714285714287, -1.0], "max": [1.0, 1.0, 0.6885714285714286, 0.0, 1.0, 0.7714285714285714, 0.7071428571428572, 1.0, 0.1142857142857143, 0.28, 0.16285714285714287, 1.0], "mean": [0.062078160517572985, 0.010089176429445698, -0.003897534534009442, 0.0, -0.06487148102815178, -0.01156670746634026, -0.00466864836509879, -0.029126595558664158, 0.000239552369295331, -0.005777233782129742, -0.0010806084979891606, -0.004895960832313341], "std": [0.4620990014693682, 0.4588723644624287, 0.1578573835950751, 0.0, 0.997893627071132, 0.3980231179475552, 0.11773911490533484, 0.34117637183583815, 0.012920520188826043, 0.08196044219714434, 0.03294868265903872, 0.9999880147119468], "count": [1634]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01652386784553528], "std": [0.12747874855995178], "count": [1634]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006119951040391676], "std": [0.02473096371013066], "count": [1634]}, "timestamp": {"min": [0.0], "max": [81.65], "mean": [40.825], "std": [23.584754079701572], "count": [1634]}, "frame_index": {"min": [0], "max": [1633], "mean": [816.5], "std": [471.6950815940315], "count": [1634]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1634]}, "index": {"min": [23624], "max": [25257], "mean": [24440.5], "std": [471.6950815940315], "count": [1634]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1634]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5244330762168778]], [[0.510271604901096]], [[0.49221131209382696]]], "std": [[[0.1809728237628291]], [[0.18654557251158863]], [[0.2033746507114191]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49347611169908995]], [[0.4670077581656402]], [[0.44893936649445565]]], "std": [[[0.19026716646372682]], [[0.20082956602088003]], [[0.21824540402090775]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5177549284110065]], [[0.4772198081522806]], [[0.4491020350853925]]], "std": [[[0.1881154874853795]], [[0.20397826628032875]], [[0.2299988951612338]]], "count": [217]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1307]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1307]}, "observation.state": {"min": [-1.4638923297148883, -3.979258333420927, 0.6999695118565025, 0.0, 0.0, -0.21433554589748383, 0.9767600893974304, -0.01602802236490719, -0.35919133741696685, 0.257115409476225, -0.9879311323165894, -0.37739890813827515, -0.8592910766601562, 0.00015287965652532876, 0.02054289288566742, -0.04011904102666554], "max": [-0.7688957854635674, -2.761195130120508, 0.7003075297299831, 0.0, 0.0, 0.16190217435359955, 1.0, 0.7035696147378212, 0.3559821940726957, 0.81000762190318, 0.9802020192146301, 0.37872570753097534, 0.5637165307998657, 0.1868402361869812, 0.04035612095373991, -0.015263135377760317], "mean": [-1.048147995294942, -3.5840535471576818, 0.7000548378431526, 0.0, 0.0, -0.04670447580532391, 0.9965824569192842, 0.243646371508893, -0.00956180052964693, 0.5625229164987215, -0.43588686883221534, 0.0826215922558864, -0.14725720474258486, 0.05136472810440207, 0.03571994813674271, -0.03368854265192103], "std": [0.17599325203810268, 0.4300382466365175, 7.580376438699952e-05, 0.0, 0.0, 0.06801920636091763, 0.00393643400528889, 0.18437963973920374, 0.10609735892566412, 0.11894516683845602, 0.8063217697574634, 0.21299104893638082, 0.28574626207659853, 0.041016843871351974, 0.005803685858620729, 0.008200935611998654], "count": [1307]}, "action": {"min": [-1.0, -1.0, -0.45999999999999996, 0.0, -1.0, -1.0, -1.0, -1.0, -0.44571428571428573, -0.7942857142857143, -0.3, -1.0], "max": [1.0, 1.0, 0.5742857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4628571428571429, 0.5971428571428572, 0.5142857142857142, 1.0], "mean": [0.06600174882500814, -0.02957700295114217, -0.0032834189528910245, 0.0, -0.26702371843917366, 0.0006175538310197766, 0.013067001858126552, 0.015018034757897033, 0.0019586840091813298, -0.01249972674609247, 0.0014143622253798233, -0.32670237184391737], "std": [0.4299017754770394, 0.44322324416410797, 0.09174043388929351, 0.0, 0.9636899572948361, 0.5565447837663683, 0.24646090053586972, 0.42930740999170336, 0.0892115532145646, 0.13983866039089046, 0.0785008066115177, 0.9451272719753396], "count": [1307]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020657995715737343], "std": [0.14223657548427582], "count": [1307]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007651109410864575], "std": [0.027650055087364424], "count": [1307]}, "timestamp": {"min": [0.0], "max": [65.3], "mean": [32.650000000000006], "std": [18.864914524057617], "count": [1307]}, "frame_index": {"min": [0], "max": [1306], "mean": [653.0], "std": [377.2982904811523], "count": [1307]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1307]}, "index": {"min": [25258], "max": [26564], "mean": [25911.0], "std": [377.2982904811523], "count": [1307]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1307]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.03529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.563522311131876]], [[0.5119487108924247]], [[0.4759554124687198]]], "std": [[[0.14714228104489355]], [[0.16826295561584723]], [[0.19952451175579075]]], "count": [274]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.047058823529411764]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5687780738132816]], [[0.5153897838120265]], [[0.47887752626319974]]], "std": [[[0.16231756636015088]], [[0.1930587709384837]], [[0.21813415693981872]]], "count": [274]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0392156862745098]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5633130864249427]], [[0.5170640306921839]], [[0.4853199700147652]]], "std": [[[0.16640666447253502]], [[0.1900650189146615]], [[0.21154114957547077]]], "count": [274]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1780]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1780]}, "observation.state": {"min": [0.6084531806476314, -2.3595640450779047, 0.699997183514247, 0.0, 0.0, -1.0, 6.712962931487709e-05, -0.1825624208420309, -0.14432548851815596, 0.26281627423971166, -0.9886294603347778, -0.43139225244522095, -0.5130017399787903, 2.5174229449476115e-05, 0.014348314463924892, -0.040277987183516176], "max": [3.693226276170544, -1.3131711115572124, 0.7019425127413568, 0.0, 0.0, 1.0, 0.7062513828277588, 0.6555403577129746, 0.14173509107524174, 0.797862461080136, 0.9713716506958008, 0.21220844984054565, 0.5196553468704224, 0.25309252738952637, 0.0400739733043553, -0.009082453698912616], "mean": [1.9560183152307462, -1.8222919641895927, 0.7012046842752343, 0.0, 0.0, -0.5077599292055944, 0.2743782564921521, 0.1772170756208949, -0.021164442881843805, 0.6032460380752304, -0.1221431409709909, -0.048611835892615696, -0.050759285349356996, 0.03643979954104917, 0.031082335601397924, -0.03171240972917213], "std": [1.1762840039768152, 0.30993907684152094, 0.00046640988146244106, 0.0, 0.0, 0.7654778113507431, 0.2844998365975245, 0.21627683408054085, 0.05851505951359617, 0.1295623194949143, 0.9068618438566338, 0.14456184919126633, 0.36608744995179154, 0.03869147869230897, 0.009977840469600959, 0.010197372218873364], "count": [1780]}, "action": {"min": [-1.0, -1.0, -0.6771428571428572, 0.0, -1.0, -1.0, -0.75, -1.0, -0.14857142857142858, -0.3857142857142858, -0.34, -1.0], "max": [1.0, 1.0, 0.88, 0.0, 1.0, 0.9571428571428572, 0.6928571428571428, 1.0, 0.22, 0.5171428571428571, 0.36, 1.0], "mean": [-0.007142857142857152, 0.024345906902086732, 0.01711556982343502, 0.0, -0.10112359550561797, 0.013888443017656453, -0.004927768860353125, -0.013258426966292137, -0.0008410914927768859, -0.0008892455858747986, 0.004601926163723913, -0.046067415730337076], "std": [0.4648632659141027, 0.39710854708181004, 0.2098823426160207, 0.0, 0.9948738706147577, 0.47374599111456495, 0.14074734376916634, 0.3263661768512908, 0.026658923571833675, 0.07778702499697905, 0.05910465485556287, 0.9989383330355825], "count": [1780]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008988764137029648], "std": [0.09438202530145645], "count": [1780]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005617977528089888], "std": [0.02369561427973387], "count": [1780]}, "timestamp": {"min": [0.0], "max": [88.95], "mean": [44.475], "std": [25.69208292451198], "count": [1780]}, "frame_index": {"min": [0], "max": [1779], "mean": [889.5], "std": [513.8416584902395], "count": [1780]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1780]}, "index": {"min": [26565], "max": [28344], "mean": [27454.5], "std": [513.8416584902395], "count": [1780]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1780]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5400470777096645]], [[0.5168320277736747]], [[0.5060478240368413]]], "std": [[[0.20360673573608923]], [[0.21415730174114872]], [[0.22435237844469275]]], "count": [210]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5294131124943467]], [[0.4896239749968998]], [[0.46615620304111227]]], "std": [[[0.24381336209759547]], [[0.24493281345982582]], [[0.2525835810288456]]], "count": [210]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5541736691828424]], [[0.5054072734643987]], [[0.4773434992486578]]], "std": [[[0.2327210680528592]], [[0.24033732955167567]], [[0.25400572304885466]]], "count": [210]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1253]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1253]}, "observation.state": {"min": [2.880240197389054, -1.9586286563553656, 0.6999944142803175, 0.0, 0.0, 0.407696396112442, 0.6960169076919556, 0.07744316637350956, -0.10369917884277502, 0.24182657721026324, -0.9882717728614807, -0.3845127820968628, -0.5513948202133179, 0.000242367634200491, 0.01560349614694292, -0.04027353667894513], "max": [4.319596066573772, -0.7533264478708992, 0.7008079897540304, 0.0, 0.0, 0.7180253863334656, 0.913117527961731, 0.6666847298272143, 0.3312360143924553, 0.8282377895840337, 0.9873840808868408, 0.3829618990421295, 0.5372563600540161, 0.25819340348243713, 0.04137230092276683, -0.018448882652306403], "mean": [3.547774257436291, -1.191341212838569, 0.7004030415581807, 0.0, 0.0, 0.6199920513062884, 0.7769336675703288, 0.2751162359931684, 0.13856221235864563, 0.5584189592164609, -0.4310713520738856, 0.06800113130785995, -0.0913960896194552, 0.05142681153554271, 0.032358414580520384, -0.032421927210639176], "std": [0.5356620176931702, 0.2829195792072264, 0.0002517884164062261, 0.0, 0.0, 0.08803069819841133, 0.06507322898815887, 0.15329485130691875, 0.11267411075726189, 0.1300499265956397, 0.8257086838633527, 0.15567499084915704, 0.30147027408594146, 0.04051561246597633, 0.008911754609775637, 0.007909926448171067], "count": [1253]}, "action": {"min": [-1.0, -1.0, -0.6342857142857142, 0.0, -1.0, -1.0, -1.0, -1.0, -0.38, -0.6771428571428572, -0.37142857142857144, -1.0], "max": [1.0, 1.0, 0.5628571428571428, 0.0, 1.0, 1.0, 0.8357142857142857, 1.0, 0.48571428571428577, 0.5857142857142857, 0.54, 1.0], "mean": [0.07534488655797514, -0.027123475088359338, -0.006120168737886225, 0.0, -0.189146049481245, -0.0014593546915973097, 0.001961007866833896, 0.000644168281837881, 0.008760688632995096, -0.012580093489909933, 0.003912894766845284, -0.09497206703910614], "std": [0.5725443846249326, 0.39430065695801286, 0.14608597646617463, 0.0, 0.9819489660698476, 0.569011236860909, 0.21030211615320807, 0.4352880182095051, 0.07835489080528389, 0.15127796763853646, 0.09664111255776599, 0.9954799377598349], "count": [1253]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012769353576004505], "std": [0.11227777600288391], "count": [1253]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007980845969672786], "std": [0.028239115742943546], "count": [1253]}, "timestamp": {"min": [0.0], "max": [62.6], "mean": [31.3], "std": [18.085491422684647], "count": [1253]}, "frame_index": {"min": [0], "max": [1252], "mean": [626.0], "std": [361.709828453693], "count": [1253]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1253]}, "index": {"min": [28345], "max": [29597], "mean": [28971.0], "std": [361.709828453693], "count": [1253]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1253]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6618140924989788]], [[0.6431907109823245]], [[0.627566671569788]]], "std": [[[0.19596818629612453]], [[0.21504081622035043]], [[0.23393692854250983]]], "count": [264]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6462208678165646]], [[0.6392429503669218]], [[0.6313201718435214]]], "std": [[[0.22548464282770408]], [[0.2278663163712621]], [[0.23126279361962948]]], "count": [264]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6248824522457022]], [[0.6173675564308643]], [[0.609145666202901]]], "std": [[[0.215203082471957]], [[0.21733925389230213]], [[0.22079716533641372]]], "count": [264]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1697]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1697]}, "observation.state": {"min": [2.199118197885071, -1.7638617077343206, 0.6999968203122265, 0.0, 0.0, 0.6994159817695618, 0.6557231545448303, -0.10146291951770192, -0.08741424438412482, 0.23864592466517964, -0.9868926405906677, -0.2053312361240387, -0.5070569515228271, 5.400236477726139e-05, 0.0205598504067832, -0.040005208557782584], "max": [3.5043441939000184, -0.7412302395129426, 0.7053378781878593, 0.0, 0.0, 0.7550013661384583, 0.7147148251533508, 0.6883090007577748, 0.1480120150888844, 0.8492587531921222, 0.9988263249397278, 0.12791410088539124, 0.5888426899909973, 0.07252168655395508, 0.040081802490644816, -0.017019540154881847], "mean": [2.6945438557173103, -1.1097429805764514, 0.7021962921968347, 0.0, 0.0, 0.7246171168952249, 0.6888273699043355, 0.28237904441173844, -0.0009526945725589205, 0.5838981388277857, 0.060783508319888456, 0.003115096392354757, -0.03423220692636005, 0.029816501966449457, 0.03736944744406642, -0.036038245059749466], "std": [0.4938818300733125, 0.2991792378575224, 0.0017324428017800565, 0.0, 0.0, 0.01452700528782711, 0.01535751529741988, 0.2027942191385957, 0.039373655544207194, 0.15634531463646192, 0.9149453430862394, 0.05820396376824367, 0.391772585519413, 0.015373939952940062, 0.0032625380009052895, 0.0044629910055509914], "count": [1697]}, "action": {"min": [-1.0, -1.0, -0.11714285714285716, 0.0, -1.0, -1.0, -0.7571428571428572, -1.0, -0.09428571428571429, -0.4714285714285714, -0.17142857142857143, -1.0], "max": [1.0, 1.0, 0.11714285714285716, 0.0, 1.0, 0.8785714285714286, 0.46428571428571436, 1.0, 0.14857142857142858, 0.38857142857142857, 0.11142857142857143, 1.0], "mean": [0.018570586749726416, -0.014066840643151793, 0.002239245727754861, 0.0, -0.3176193282262817, -0.0037881976597356494, -0.0069281926088054545, -0.02898392120548872, 0.0006801919353480936, -0.0056536745517299465, -0.000811516120885595, -0.13376546847377727], "std": [0.41314992308609755, 0.3349084567301528, 0.022351898794411584, 0.0, 0.9482183094293712, 0.41603224858296084, 0.12234277354641826, 0.37302502029589135, 0.014785893260860317, 0.09016556595956875, 0.024400608393954217, 0.9910130167883633], "count": [1697]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009428403340280056], "std": [0.09664113074541092], "count": [1697]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005892751915144372], "std": [0.024267837692367712], "count": [1697]}, "timestamp": {"min": [0.0], "max": [84.8], "mean": [42.4], "std": [24.494080917642123], "count": [1697]}, "frame_index": {"min": [0], "max": [1696], "mean": [848.0], "std": [489.88161835284245], "count": [1697]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1697]}, "index": {"min": [29598], "max": [31294], "mean": [30446.0], "std": [489.88161835284245], "count": [1697]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1697]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5328755913938084]], [[0.5060072383372659]], [[0.4891044339090775]]], "std": [[[0.224202610717995]], [[0.24026569201973408]], [[0.24929220015676504]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.487433897336045]], [[0.467078959117365]], [[0.46064653628256924]]], "std": [[[0.23930410835602495]], [[0.24214651743874396]], [[0.24176363705114365]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4755887829493388]], [[0.45099647230967554]], [[0.4414318614256764]]], "std": [[[0.24551367010397487]], [[0.2531947299309744]], [[0.2561803770409457]]], "count": [201]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1182]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1182]}, "observation.state": {"min": [0.7799205930955176, -1.8290658730763951, 0.6999922020604107, 0.0, 0.0, -1.0, 8.236035853315116e-08, -0.03474522057930285, -0.19383191840646152, 0.27163869327607404, -0.9892197847366333, -0.5094624757766724, -0.6803147792816162, 1.4625407857238315e-05, 0.017011914861687377, -0.04030684156978885], "max": [1.8741084167298747, -0.6658990059716403, 0.700913292336372, 0.0, 0.0, 1.0, 0.19401699304580688, 0.6181035003433833, 0.26770738241462444, 0.8334545173548995, 0.9841033816337585, 0.4306311011314392, 0.5833583474159241, 0.17477068305015564, 0.04039376118243466, -0.015089846973400994], "mean": [1.104182396825158, -1.132823896116877, 0.7003409539078734, 0.0, 0.0, 0.2605092541618799, 0.061265850765730843, 0.23658680351810876, 0.021679179778023968, 0.5531720863987101, -0.09123248376216986, -0.06079691426604734, -0.06462805240782207, 0.03900846002037934, 0.034188246826132196, -0.03152141211153606], "std": [0.2773235560714242, 0.4194195397655274, 0.00033632497616453624, 0.0, 0.0, 0.9617968873924381, 0.05769043776157046, 0.16959715972201223, 0.10551045519196639, 0.12057238211439165, 0.9285123064161048, 0.23403619025133443, 0.25360349837501817, 0.03254450282836751, 0.007166674642199041, 0.009745908872213311], "count": [1182]}, "action": {"min": [-1.0, -1.0, -0.4571428571428572, 0.0, -1.0, -1.0, -1.0, -1.0, -0.24571428571428575, -0.6257142857142857, -0.28285714285714286, -1.0], "max": [1.0, 1.0, 0.4542857142857143, 0.0, 1.0, 1.0, 0.7642857142857143, 1.0, 0.4514285714285714, 0.5628571428571428, 0.68, 1.0], "mean": [0.04715977761663042, 0.03559342518733382, -0.008240270727580377, 0.0, -0.20473773265651438, 0.006611070824268789, 0.0036379018612521185, 0.012309644670050742, 0.004056079284505683, -0.009361856417693984, 0.0033913463862702414, -0.19458544839255498], "std": [0.5520832184519857, 0.41874901779913304, 0.10843945520818005, 0.0, 0.978816867869913, 0.5770433393789629, 0.2024575134547264, 0.45011962333799127, 0.0598575530105721, 0.13017400334030002, 0.11353158486892954, 0.980885570937745], "count": [1182]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013536378741264343], "std": [0.11555580049753189], "count": [1182]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008460236886632825], "std": [0.029074179826462914], "count": [1182]}, "timestamp": {"min": [0.0], "max": [59.05], "mean": [29.525000000000002], "std": [17.060694348902295], "count": [1182]}, "frame_index": {"min": [0], "max": [1181], "mean": [590.5], "std": [341.2138869780459], "count": [1182]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1182]}, "index": {"min": [31295], "max": [32476], "mean": [31885.5], "std": [341.2138869780459], "count": [1182]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1182]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5642941944106759]], [[0.5409993605509557]], [[0.5159559074816548]]], "std": [[[0.1688255621225902]], [[0.17478695906718783]], [[0.1759961104579965]]], "count": [351]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5870850178777329]], [[0.5569630432725585]], [[0.5226680708946406]]], "std": [[[0.20234122681399183]], [[0.19834429475805979]], [[0.19827898854549775]]], "count": [351]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5569279663842868]], [[0.5294889381561697]], [[0.4986018475830392]]], "std": [[[0.2022463394127175]], [[0.19713634799126206]], [[0.19644641476427865]]], "count": [351]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2484]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2484]}, "observation.state": {"min": [0.8787568196834711, -3.359993438394289, 0.6999964742131599, 0.0, 0.0, -0.9999866485595703, 0.001242879661731422, -0.01884393469553891, -0.11518281757702531, 0.26625007617642005, -0.977631151676178, -0.17405062913894653, -0.5357689261436462, 7.901809294708073e-05, 0.009504705471242787, -0.04024488744155195], "max": [3.50528233480907, -0.9686790242409555, 0.7014713217092632, 0.0, 0.0, 0.9999992847442627, 0.9999991655349731, 0.599417523245203, 0.24667326184779803, 0.8066346508786209, 0.9910255074501038, 0.341433048248291, 0.5490196943283081, 0.1335311233997345, 0.040052628852174386, -0.00900845547587468], "mean": [2.0417829640069254, -1.9666784341698866, 0.700830591592626, 0.0, 0.0, 0.5253583582578097, 0.5315833800072458, 0.15660711138695493, -0.010260796013286985, 0.6303900863445202, -0.14789618695703682, -0.008401198387625904, -0.005187481332828266, 0.03332447138494601, 0.03054178073684598, -0.030354052449222162], "std": [1.03560700259848, 0.7668482179016125, 0.0004120070193479629, 0.0, 0.0, 0.5597582415742478, 0.35789442682587874, 0.15500125338477766, 0.058454500063067794, 0.10759367278182701, 0.8959110148643948, 0.096270996645555, 0.40544703538616195, 0.02463248101602845, 0.010305316240362622, 0.01046707899235714], "count": [2484]}, "action": {"min": [-1.0, -1.0, -0.8771428571428571, 0.0, -1.0, -1.0, -1.0, -0.9714285714285714, -0.23142857142857146, -0.5485714285714286, -0.26285714285714284, -1.0], "max": [1.0, 1.0, 0.33714285714285713, 0.0, 1.0, 1.0, 0.807142857142857, 1.0, 0.22, 0.2857142857142857, 0.4114285714285714, 1.0], "mean": [0.208281573498965, 0.09066022544283413, -0.17073959052219917, 0.0, 0.13043478260869565, 0.005086841499884968, 0.007821486082355653, -0.002610996089256961, -6.901311249137603e-06, -0.0010674028065332441, -0.001666666666666667, 0.08051529790660225], "std": [0.4742451394044923, 0.3448564981848199, 0.24167547370227077, 0.0, 0.9914568913905576, 0.37764168052299396, 0.13904400128503303, 0.2816521712859392, 0.03258642565898372, 0.0684766931366885, 0.05106920650999619, 0.996753373108433], "count": [2484]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006441223900765181], "std": [0.07999833673238754], "count": [2484]}, "next.done": {"min": [false], "max": [true], "mean": [0.00040257648953301127], "std": [0.020060269731563597], "count": [2484]}, "timestamp": {"min": [0.0], "max": [124.15], "mean": [62.074999999999996], "std": [35.85344881133008], "count": [2484]}, "frame_index": {"min": [0], "max": [2483], "mean": [1241.5], "std": [717.0689762266018], "count": [2484]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [2484]}, "index": {"min": [32477], "max": [34960], "mean": [33718.5], "std": [717.0689762266018], "count": [2484]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2484]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5931828286943113]], [[0.5515720175146087]], [[0.516468245781306]]], "std": [[[0.18105671690640135]], [[0.17812045604361953]], [[0.200679251077687]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.604198061679893]], [[0.5289109185618798]], [[0.4553596240444539]]], "std": [[[0.22370258477802318]], [[0.2108497845084336]], [[0.24263416367263083]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5918815212167661]], [[0.5267742196023322]], [[0.4592576207252623]]], "std": [[[0.23261458151321093]], [[0.22257932492319296]], [[0.2502813137101508]]], "count": [205]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1211]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1211]}, "observation.state": {"min": [4.410749038336468, -1.9455408980362359, 0.6999933129475323, 0.0, 0.0, 0.40079978108406067, 0.3887030780315399, 0.1921208948727641, -0.0013583554540224085, 0.2871634091499444, -0.9887077212333679, -0.18053902685642242, -0.6558312773704529, 0.0001848854444688186, 0.02056504290484042, -0.04044239708568126], "max": [6.226279460986501, -0.8270441692550741, 0.7019375407439117, 0.0, 0.0, 0.9213630557060242, 0.9161656498908997, 0.6545657089493057, 0.1646775243377716, 0.8082279458836462, 0.9854235053062439, 0.18107947707176208, 0.5417017340660095, 0.1067645326256752, 0.04042746161636047, -0.015206549561770888], "mean": [5.657249824216537, -1.1861247413848122, 0.7006781891111773, 0.0, 0.0, 0.6456677736229979, 0.7589996586054637, 0.34902352536159437, 0.0706719182523043, 0.5016730881742357, -0.3603588457839928, 0.009435942554946383, -0.15812178937415267, 0.030197901897095675, 0.03425599617096365, -0.0339711852343294], "std": [0.639260331264551, 0.3018872980806307, 0.0006813669561916191, 0.0, 0.0, 0.06041407567764702, 0.0581616378710489, 0.12376172944708291, 0.03761603237525825, 0.09297949506125006, 0.8576650066777848, 0.0756363015994415, 0.31995517397297074, 0.021368803004044565, 0.006252097844760493, 0.008262320639271062], "count": [1211]}, "action": {"min": [-1.0, -1.0, -0.6342857142857142, 0.0, -1.0, -1.0, -0.5857142857142857, -1.0, -0.18, -0.5285714285714286, -0.3142857142857143, -1.0], "max": [1.0, 1.0, 0.9257142857142858, 0.0, 1.0, 1.0, 1.0, 1.0, 0.27714285714285714, 0.6428571428571429, 0.26857142857142857, 1.0], "mean": [0.040208800283119024, 0.035543234634894436, -0.0007408281231567824, 0.0, -0.14285714285714285, 0.0004895599858440479, 0.0003362038457001349, -0.005868821517046123, 0.001509968149109355, -0.007115724902677835, -0.0024654948684676185, -0.2056151940545004], "std": [0.5469534532890274, 0.46415299713512254, 0.168824158444285, 0.0, 0.9897433186107844, 0.4710076063702601, 0.14071149028931634, 0.38273205359916435, 0.039275853611190875, 0.13362936338902073, 0.04018102629193138, 0.9786329199316364], "count": [1211]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013212221674621105], "std": [0.11418256908655167], "count": [1211]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008257638315441783], "std": [0.0287242396877392], "count": [1211]}, "timestamp": {"min": [0.0], "max": [60.5], "mean": [30.25], "std": [17.479273440277776], "count": [1211]}, "frame_index": {"min": [0], "max": [1210], "mean": [605.0], "std": [349.5854688055555], "count": [1211]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1211]}, "index": {"min": [34961], "max": [36171], "mean": [35566.0], "std": [349.5854688055555], "count": [1211]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1211]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5321898264535564]], [[0.512535842013679]], [[0.49684206900581857]]], "std": [[[0.2056110679874423]], [[0.2275663081402852]], [[0.232790411734163]]], "count": [304]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4753485064511451]], [[0.38020014846534056]], [[0.37230812088500853]]], "std": [[[0.24288788407267428]], [[0.2549702525610722]], [[0.25176237553496883]]], "count": [304]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49987940104261147]], [[0.41481429849000656]], [[0.4002139218451438]]], "std": [[[0.23390798073113228]], [[0.25055336785291665]], [[0.24702154021776299]]], "count": [304]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [2048]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2048]}, "observation.state": {"min": [0.3205651800524465, -4.580808293294439, 0.6999980927378674, 0.0, 0.0, -0.7551016211509705, 0.6556078195571899, -0.18328865191192945, -0.1642156206832217, 0.2452026311573603, -0.9903583526611328, -0.38860946893692017, -0.430593878030777, 1.3127516467648093e-05, 0.003167453097143069, -0.04028671040843706], "max": [1.7602047363209012, -3.4675807742176135, 0.7079935703589324, 0.0, 0.0, -0.6584545969963074, 0.7526203393936157, 0.6597806015836643, 0.3402248506888218, 0.7637690663903718, 0.9905391335487366, 0.3073572516441345, 0.4636801779270172, 0.16974878311157227, 0.040639757238188495, -0.001597279810092995], "mean": [1.1102697789733105, -4.243772302638799, 0.7026825396548788, 0.0, 0.0, -0.7067290056438651, 0.7071353840001393, 0.21443809216863421, 0.010494343423092946, 0.5237129418064238, -0.007513444434152916, 0.00046358038525795564, 0.014241945418689284, 0.057841192625251114, 0.02952832255758756, -0.028870230703900414], "std": [0.4857360944769684, 0.3129274650330998, 0.0024890815239326813, 0.0, 0.0, 0.01576066592562777, 0.015660770549821953, 0.21170839689434817, 0.10344629688970003, 0.12511307673393812, 0.9465625816575386, 0.11023699510030915, 0.2927008872407168, 0.05087406880559042, 0.012054042662724692, 0.012031182757408053], "count": [2048]}, "action": {"min": [-1.0, -1.0, -0.2914285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3485714285714286, -0.5657142857142857, -0.3514285714285714, -1.0], "max": [1.0, 1.0, 0.33714285714285713, 0.0, 1.0, 1.0, 0.8357142857142857, 1.0, 0.4542857142857143, 0.4914285714285715, 0.6028571428571429, 1.0], "mean": [0.031853376116071426, -0.01685267857142858, -0.0003655133928571432, 0.0, -0.3935546875, -0.012482561383928557, 0.0017613002232142933, -0.036847795758928596, -0.0025725446428571455, -0.004730747767857143, -0.00024274553571428456, -0.09765625], "std": [0.41716852922758385, 0.323111969395166, 0.03954210584495374, 0.0, 0.9193012063229208, 0.4056835510706838, 0.2000549537411124, 0.3538390514494961, 0.044256618452110104, 0.08075068099349977, 0.06371657839895424, 0.995220205198798], "count": [2048]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0078125], "std": [0.08804240077733994], "count": [2048]}, "next.done": {"min": [false], "max": [true], "mean": [0.00048828125], "std": [0.02209169145676488], "count": [2048]}, "timestamp": {"min": [0.0], "max": [102.35], "mean": [51.175], "std": [29.56033025864224], "count": [2048]}, "frame_index": {"min": [0], "max": [2047], "mean": [1023.5], "std": [591.2066051728448], "count": [2048]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [2048]}, "index": {"min": [36172], "max": [38219], "mean": [37195.5], "std": [591.2066051728448], "count": [2048]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [2048]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5683412299018036]], [[0.5627189482168946]], [[0.522484640869998]]], "std": [[[0.1997347923159167]], [[0.2315601060025942]], [[0.230998087088719]]], "count": [268]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.504945921681588]], [[0.45352695499695916]], [[0.42869158156754716]]], "std": [[[0.2153698113220675]], [[0.24460066040626138]], [[0.26229194313601795]]], "count": [268]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4991073572674027]], [[0.4640821904022511]], [[0.44576415211825754]]], "std": [[[0.2236402403551138]], [[0.243940183235007]], [[0.2570499960760894]]], "count": [268]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1733]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1733]}, "observation.state": {"min": [1.8674185640768137, -2.1476440935254075, 0.6999977461069246, 0.0, 0.0, 0.002957217628136277, 0.699802577495575, -0.08852322911381094, -0.22674907595749794, 0.2567175216934492, -0.9880703687667847, -0.3566524386405945, -0.5175433158874512, 9.388734179083258e-05, 0.014127824089140087, -0.040280296841106164], "max": [3.39986076581625, -0.983330816811371, 0.7041081456360408, 0.0, 0.0, 0.7143362164497375, 0.9999957084655762, 0.6859335689465884, 0.09664446353672052, 0.8134102327890638, 0.986280083656311, 0.42340824007987976, 0.48552680015563965, 0.13389696180820465, 0.04095966267268942, -0.012703291086188248], "mean": [2.5800009799222683, -1.5282038576423567, 0.7018828242807926, 0.0, 0.0, 0.42468977894201937, 0.8610306680030515, 0.17614290888766138, -0.04305670785127159, 0.5472790871291876, 0.3048775097020981, 0.042770860386733986, 0.04614813560464103, 0.038632205552096045, 0.03143837773980889, -0.029287052953746832], "std": [0.519685290897568, 0.4355226232433188, 0.001152086786723319, 0.0, 0.0, 0.2547252924355869, 0.11567111108152207, 0.20734469702101627, 0.06753454322299773, 0.12196031558978025, 0.8822502537316782, 0.15426894661478552, 0.3138145296636616, 0.0308915086242716, 0.010397559323244055, 0.010537989018494445], "count": [1733]}, "action": {"min": [-1.0, -0.7714285714285714, -0.5771428571428572, 0.0, -1.0, -1.0, -0.7000000000000001, -1.0, -0.3314285714285714, -0.4514285714285714, -0.39714285714285713, -1.0], "max": [1.0, 1.0, 0.6742857142857143, 0.0, 1.0, 0.9357142857142857, 0.942857142857143, 1.0, 0.2485714285714286, 0.42, 0.31142857142857144, 1.0], "mean": [-0.004566812299068518, 0.008964636056384504, -0.012994806693594901, 0.0, -0.23254472013848818, 0.0005440606710081677, 0.0029717253317945716, -0.02551726980463272, 0.0002011375814030164, -0.0015711812711235716, -0.003331959442749979, 0.0017311021350259665], "std": [0.4739880385314485, 0.20157455639657137, 0.19550210589516173, 0.0, 0.9725857047765724, 0.5113835956154663, 0.17038078609331325, 0.35269325088772807, 0.03345611127059075, 0.06355377684399302, 0.059610005444550564, 0.9999985016415922], "count": [1733]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009232544340193272], "std": [0.09564153850078583], "count": [1733]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005770340450086555], "std": [0.024014601323352352], "count": [1733]}, "timestamp": {"min": [0.0], "max": [86.6], "mean": [43.3], "std": [25.013696248255673], "count": [1733]}, "frame_index": {"min": [0], "max": [1732], "mean": [866.0], "std": [500.2739249651135], "count": [1733]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1733]}, "index": {"min": [38220], "max": [39952], "mean": [39086.0], "std": [500.2739249651135], "count": [1733]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1733]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4668911444404166]], [[0.43449691326373313]], [[0.41568862829709957]]], "std": [[[0.19905418986250886]], [[0.21119742002780595]], [[0.22832938549347603]]], "count": [277]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4609637783415346]], [[0.4377112182781365]], [[0.4226937563562626]]], "std": [[[0.21206574581562102]], [[0.2179550332708895]], [[0.22393107755457392]]], "count": [277]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48724224257724014]], [[0.4704049261156191]], [[0.4585975509257954]]], "std": [[[0.21653958854318764]], [[0.22307286169823828]], [[0.2293000620345317]]], "count": [277]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1806]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1806]}, "observation.state": {"min": [4.193357056437803, -4.310279826360625, 0.6999945872064716, 0.0, 0.0, -0.27578604221343994, 0.8828643560409546, -0.016132493893489475, -0.15044071438802709, 0.24396341821017475, -0.9968240261077881, -0.40931960940361023, -0.48326072096824646, 1.900837742141448e-05, 0.01232467640766087, -0.040780735355792685], "max": [4.901051413342105, -1.29379764500476, 0.7086898293641414, 0.0, 0.0, 0.46962812542915344, 1.0, 0.6790544548598811, 0.13765971131528007, 0.7664977041294303, 0.9968168139457703, 0.4111546576023102, 0.7468284368515015, 0.20154111087322235, 0.04059153650687801, 0.00036954923991148336], "mean": [4.595895264548579, -3.106591068039927, 0.7045530400786106, 0.0, 0.0, -0.044742066414547935, 0.9946411188324689, 0.21276178014926408, -0.004692578337599563, 0.5508495482009508, -0.11159431990462944, 0.007182167061209547, -0.014780642198431133, 0.044366387914188524, 0.02968375731051015, -0.029455652687006464], "std": [0.16616347392484326, 1.1857675856221428, 0.003005560038690693, 0.0, 0.0, 0.09214904345894077, 0.013991381790502194, 0.18358115372259856, 0.05469233810763159, 0.12009943527966521, 0.9212773420191909, 0.1655377568908746, 0.32780869216817876, 0.041171012281739076, 0.010012294006740788, 0.010944759644900251], "count": [1806]}, "action": {"min": [-1.0, -1.0, -0.66, 0.0, -1.0, -1.0, -0.7857142857142857, -1.0, -0.2571428571428571, -0.5285714285714286, -0.32857142857142857, -1.0], "max": [1.0, 1.0, 0.7028571428571428, 0.0, 1.0, 1.0, 0.7428571428571429, 1.0, 0.4314285714285714, 0.86, 0.44, 1.0], "mean": [0.05165321942730579, 0.024928808732795453, 6.96092390444588e-05, 0.0, -0.16611295681063123, -0.016682486948267683, -0.004769814902705268, -0.0270605916785319, 0.0007957601645309293, 0.008319886093972478, 0.0031814586299636124, -0.0033222591362126247], "std": [0.31455549850233744, 0.533799227488816, 0.13559432208702446, 0.0, 0.9861067313326808, 0.485172623474476, 0.1682908966618961, 0.3972831463275371, 0.04893795588978816, 0.14781724478693828, 0.061600449392071835, 0.9999944812818942], "count": [1806]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008305647410452366], "std": [0.09075606614351273], "count": [1806]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005537098560354374], "std": [0.023524524680230346], "count": [1806]}, "timestamp": {"min": [0.0], "max": [90.25], "mean": [45.125], "std": [26.067360657854614], "count": [1806]}, "frame_index": {"min": [0], "max": [1805], "mean": [902.5], "std": [521.3472131570924], "count": [1806]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1806]}, "index": {"min": [39953], "max": [41758], "mean": [40855.5], "std": [521.3472131570924], "count": [1806]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1806]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5618746054355027]], [[0.527116016364373]], [[0.5028247420326087]]], "std": [[[0.19313187138862614]], [[0.19376059381647673]], [[0.19203494049375555]]], "count": [292]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5119348186336151]], [[0.45942567942637513]], [[0.43387544761573693]]], "std": [[[0.2319949984274621]], [[0.2343647400927915]], [[0.23619103566616736]]], "count": [292]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5242157519327963]], [[0.4713663435737964]], [[0.4470849739298076]]], "std": [[[0.22578853173971167]], [[0.22990683450912094]], [[0.23144409381322203]]], "count": [292]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1938]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1938]}, "observation.state": {"min": [0.42463882755398563, -4.5671930062346835, 0.6999952131037048, 0.0, 0.0, -0.8030008673667908, 0.595977783203125, -0.12275088520538269, -0.3894174221069474, 0.26863573471082725, -0.9902746081352234, -0.26367682218551636, -0.6106693744659424, 2.1213500076555647e-05, 0.016078716493330356, -0.04003401602270377], "max": [1.6108149489728854, -3.4909366874943912, 0.702005294479011, 0.0, 0.0, -0.7007880806922913, 0.7133695483207703, 0.5871569395896481, 0.21649464148864084, 0.8453851889995989, 0.9931222796440125, 0.22300413250923157, 0.6105310916900635, 0.16428662836551666, 0.040080821571184255, -0.016907971153074703], "mean": [1.0977266562213839, -4.294502431928002, 0.7011126188212199, 0.0, 0.0, -0.7361536575606241, 0.6750652276140987, 0.16641533799559383, -0.035035151434891436, 0.6374983682446612, 0.2119887878097617, -0.025537946717996224, 0.08426779227223635, 0.058332685284770466, 0.030008767521160006, -0.03153086114064548], "std": [0.4609276238008129, 0.2510780490270327, 0.0005779188699159693, 0.0, 0.0, 0.03208877848334496, 0.03653810531420236, 0.20532449523224508, 0.09413838836923306, 0.15428534969276683, 0.882514253455127, 0.1086320279628491, 0.3898693733414803, 0.03569800414160106, 0.010131976631817924, 0.00893214328840113], "count": [1938]}, "action": {"min": [-1.0, -1.0, -0.21714285714285717, 0.0, -1.0, -1.0, -0.8571428571428572, -0.7142857142857143, -0.18, -0.5085714285714286, -0.18571428571428572, -1.0], "max": [1.0, 1.0, 0.2285714285714286, 0.0, 1.0, 0.9071428571428573, 0.9, 1.0, 0.25142857142857145, 0.34, 0.62, 1.0], "mean": [0.028390830016217006, -0.019139761167624943, -0.003850803479286452, 0.0, -0.39834881320949433, 0.0011093911248710002, 0.0027753206545776113, -0.0011683620816747683, -0.00016511867905056747, -0.0018988648090815295, 2.6536930561698575e-05, -0.048503611971104234], "std": [0.3753472505063828, 0.30542679159084796, 0.03571163755237368, 0.0, 0.9172340066823714, 0.46063987316466226, 0.22323812644002722, 0.3351306225547767, 0.038893064246534124, 0.09369405882477194, 0.05638767659223011, 0.9988230071568052], "count": [1938]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008255934342741966], "std": [0.0904863178730011], "count": [1938]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005159958720330237], "std": [0.022709681201925066], "count": [1938]}, "timestamp": {"min": [0.0], "max": [96.85], "mean": [48.425], "std": [27.972616818357675], "count": [1938]}, "frame_index": {"min": [0], "max": [1937], "mean": [968.5], "std": [559.4523363671535], "count": [1938]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1938]}, "index": {"min": [41759], "max": [43696], "mean": [42727.5], "std": [559.4523363671535], "count": [1938]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1938]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6010500786632653]], [[0.5615401684334962]], [[0.5350357056664704]]], "std": [[[0.21066840083883562]], [[0.24099719185849183]], [[0.25571146506178793]]], "count": [299]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5880560187060166]], [[0.520380714962354]], [[0.47575534658202484]]], "std": [[[0.18408728996196796]], [[0.20172716869655077]], [[0.20407711164237802]]], "count": [299]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5636196540984116]], [[0.508682848159677]], [[0.48201447763992716]]], "std": [[[0.17185268507593188]], [[0.19273604032829286]], [[0.19811365226143235]]], "count": [299]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2000]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2000]}, "observation.state": {"min": [4.234707170681949, -4.27096569174709, 0.6999978972544798, 0.0, 0.0, -0.07251688838005066, 0.8267737030982971, -0.09826362098130748, -0.24430895870588887, 0.25023644192001226, -0.9894911646842957, -0.3435702919960022, -0.4267839789390564, 3.5308835322211962e-06, 0.015063360592577074, -0.0407145175060787], "max": [4.884123149943642, -1.738531449925086, 0.7089292279353614, 0.0, 0.0, 0.5625346899032593, 1.0, 0.723413552408795, 0.0864660335413503, 0.738766397847165, 0.9834387302398682, 0.3707740902900696, 0.7434141039848328, 0.21775488555431366, 0.04151554282953488, -0.009856832935071816], "mean": [4.6219618985992525, -3.3478766529485435, 0.70339499836072, 0.0, 0.0, 0.017522054406849764, 0.9929333611428738, 0.19611545631364302, -0.044128098888989636, 0.549361263140559, 0.3333452077805996, 0.0787153856754303, 0.10521459115110338, 0.057297480572289484, 0.03308619368146548, -0.03536271924897107], "std": [0.17706566408856994, 0.996404778244252, 0.0032382946961631858, 0.0, 0.0, 0.11469784908103636, 0.024914638665212433, 0.2262514219270089, 0.045266696321710743, 0.1289215613610145, 0.8717757093588409, 0.12942716379464522, 0.29623072251912586, 0.06192601339218836, 0.00761015629165001, 0.0068804649981099855], "count": [2000]}, "action": {"min": [-1.0, -1.0, -0.7342857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.18571428571428572, -0.4514285714285714, -0.44857142857142857, -1.0], "max": [1.0, 1.0, 0.5485714285714286, 0.0, 1.0, 0.9285714285714287, 1.0, 1.0, 0.3514285714285714, 1.0, 0.27714285714285714, 1.0], "mean": [0.06997857142857143, 0.044578571428571405, -0.002858571428571435, 0.0, -0.21, -0.0055857142857142685, -0.00907857142857142, -0.009564285714285716, -0.0016528571428571436, 0.013699999999999997, 0.002074285714285715, -0.059], "std": [0.3250520202480599, 0.47454247132562793, 0.14849864974992966, 0.0, 0.9777013859047078, 0.47555233601120755, 0.15641023359572487, 0.411674782418831, 0.03240154162999012, 0.12471371215708431, 0.03714955148464436, 0.9982579826878402], "count": [2000]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00800000037997961], "std": [0.08908423036336899], "count": [2000]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005], "std": [0.02235508890610816], "count": [2000]}, "timestamp": {"min": [0.0], "max": [99.95], "mean": [49.975], "std": [28.86750985104188], "count": [2000]}, "frame_index": {"min": [0], "max": [1999], "mean": [999.5], "std": [577.3501970208376], "count": [2000]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [2000]}, "index": {"min": [43697], "max": [45696], "mean": [44696.5], "std": [577.3501970208376], "count": [2000]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2000]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5742273635576954]], [[0.5291307509525954]], [[0.5115265350282354]]], "std": [[[0.2087652159209932]], [[0.2215625040610643]], [[0.2256149190329915]]], "count": [302]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5447026955030317]], [[0.4899865503513013]], [[0.4667955464688915]]], "std": [[[0.21944797632158805]], [[0.24356926710573612]], [[0.2559025737588986]]], "count": [302]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5643381055121823]], [[0.5116352492935424]], [[0.48787937538296566]]], "std": [[[0.21212346619937347]], [[0.23195608113445534]], [[0.24326070252801946]]], "count": [302]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2034]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2034]}, "observation.state": {"min": [1.090211389778874, -4.017939431222614, 0.6999963367452262, 0.0, 0.0, -1.0, 4.070521697485674e-08, -0.06989479417210775, -0.1416114024334365, 0.26966818366073475, -0.9933623671531677, -0.3022587299346924, -0.5402444005012512, 5.944616350461729e-05, 0.016408386111626646, -0.0401165828086057], "max": [3.3342639322801912, -1.7450981187735362, 0.7021257166650904, 0.0, 0.0, 1.0, 0.9999316930770874, 0.6237132284008268, 0.08084639492825874, 0.7715642584549481, 0.9935070276260376, 0.3434920310974121, 0.6535512804985046, 0.31105682253837585, 0.04003943190740706, -0.015715436600518627], "mean": [1.9853798306509312, -3.006490480214139, 0.700977164001002, 0.0, 0.0, -0.28641042985331594, 0.3737574188438671, 0.17576800584184196, -0.03368453238791606, 0.5968502915333371, -0.012965836854342045, 0.029038017291498748, 0.022646566263181154, 0.039830262301634986, 0.03143571647066411, -0.03069773646131117], "std": [0.7764470297812878, 0.8316453963421719, 0.0007579510628565155, 0.0, 0.0, 0.8210886050344309, 0.3226266700006998, 0.1863908200226031, 0.04457176813700006, 0.12769952060237655, 0.9173887450198371, 0.1471058770298403, 0.36437608609026567, 0.029617265513066527, 0.00865736829996745, 0.009135988843678569], "count": [2034]}, "action": {"min": [-1.0, -1.0, -0.9171428571428571, 0.0, -1.0, -1.0, -0.942857142857143, -1.0, -0.29428571428571426, -0.8228571428571428, -0.32285714285714284, -1.0], "max": [1.0, 1.0, 0.8057142857142856, 0.0, 1.0, 1.0, 0.7857142857142857, 1.0, 0.14, 0.88, 0.4514285714285714, 1.0], "mean": [0.09202837477173759, -0.0162803764573676, -0.04379828627616236, 0.0, -0.02261553588987217, 0.0053448518050287965, -0.000628599522404837, -0.012677342323359986, 0.00013906447534766254, -0.003583368450625089, -0.0005969939598258153, 0.0009832841691248771], "std": [0.49419148889683384, 0.43168338563506664, 0.2693348194453529, 0.0, 0.9997442360606076, 0.4155711055675905, 0.13301626552503193, 0.3251643679939311, 0.03290167691184427, 0.12210528554673236, 0.06732300469411476, 0.9999995165760099], "count": [2034]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007866273634135723], "std": [0.08834248781204224], "count": [2034]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004916420845624386], "std": [0.022167552246992125], "count": [2034]}, "timestamp": {"min": [0.0], "max": [101.65], "mean": [50.825], "std": [29.358257640171132], "count": [2034]}, "frame_index": {"min": [0], "max": [2033], "mean": [1016.5], "std": [587.1651528034226], "count": [2034]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [2034]}, "index": {"min": [45697], "max": [47730], "mean": [46713.5], "std": [587.1651528034226], "count": [2034]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2034]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5837316235570231]], [[0.5734306801474528]], [[0.5525190890369217]]], "std": [[[0.19116318429225146]], [[0.20104996688828952]], [[0.2273675053602164]]], "count": [243]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5186443076760507]], [[0.4994794629036269]], [[0.4814880834040953]]], "std": [[[0.2105853167283483]], [[0.2197983708275993]], [[0.22859403907343298]]], "count": [243]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4906490584796483]], [[0.47094911938380035]], [[0.45343736303657745]]], "std": [[[0.22166532247433007]], [[0.2286616618668548]], [[0.23582664278534124]]], "count": [243]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1523]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1523]}, "observation.state": {"min": [5.01520437055025, -2.783451733060777, 0.6999981713144502, 0.0, 0.0, -0.08811381459236145, 0.9961103796958923, -0.03048124904948679, -0.27407837462009255, 0.25781465004232407, -0.9887698292732239, -0.3207644522190094, -0.49166637659072876, 2.1752148313680664e-05, 0.009058190191943658, -0.040088030963427036], "max": [5.938011205822336, -1.2464908583809586, 0.7024359440265574, 0.0, 0.0, -1.655175947234966e-05, 1.0, 0.7144667615220737, 0.15869700052651758, 0.7397024377489183, 0.9817936420440674, 0.32693615555763245, 0.49170535802841187, 0.1346445381641388, 0.04027457452835636, -0.010023035727456147], "mean": [5.617223526242061, -2.1898942366299887, 0.7012784858121576, 0.0, 0.0, -0.038294454506316, 0.9991051603991659, 0.26829630171916496, 0.01660419683256395, 0.5783731494534508, -0.1859180574658194, 0.016348389110045453, -0.07648179149322422, 0.03728873182849542, 0.03165036007457369, -0.030212164798102452], "std": [0.24139644170663568, 0.5944094478487585, 0.0007261819627932584, 0.0, 0.0, 0.017944132822604705, 0.0006395014157196893, 0.18738337507792124, 0.05533856011667436, 0.13772009619228961, 0.9006199710433862, 0.13301779895528115, 0.3577183717646287, 0.03398225274628665, 0.010846222911722549, 0.01061047999779348], "count": [1523]}, "action": {"min": [-1.0, -1.0, -0.1742857142857143, 0.0, -1.0, -1.0, -1.0, -0.9, -0.1657142857142857, -0.37714285714285717, -0.1742857142857143, -1.0], "max": [1.0, 1.0, 0.24571428571428575, 0.0, 1.0, 0.807142857142857, 0.6571428571428571, 1.0, 0.18285714285714286, 0.22, 0.37714285714285717, 1.0], "mean": [0.014388894099990624, 0.03307851045868117, -0.0021874120626582867, 0.0, -0.3355219960604071, -0.001918206547228207, -0.012892786792983765, -0.009886502204296016, -0.0017728168089297426, -0.0005571709970922067, 0.00045774317606228523, -0.04530531845042679], "std": [0.38244679378433033, 0.379532789617771, 0.03208465937001509, 0.0, 0.9420323721399619, 0.5165005864332349, 0.1781405628378877, 0.36951818239376477, 0.027041749178698546, 0.06858975937938651, 0.042942472582594406, 0.9989731868874654], "count": [1523]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01050558127462864], "std": [0.10195692628622055], "count": [1523]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006565988181221273], "std": [0.025615770457165017], "count": [1523]}, "timestamp": {"min": [0.0], "max": [76.1], "mean": [38.050000000000004], "std": [21.982606760800685], "count": [1523]}, "frame_index": {"min": [0], "max": [1522], "mean": [761.0], "std": [439.65213521601373], "count": [1523]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1523]}, "index": {"min": [47731], "max": [49253], "mean": [48492.0], "std": [439.65213521601373], "count": [1523]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1523]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46863889194630304]], [[0.44056284399035384]], [[0.42580372757614443]]], "std": [[[0.17159342924067733]], [[0.15574687932598785]], [[0.14796139796373317]]], "count": [268]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47620313318982127]], [[0.44072996903693845]], [[0.4271934926806398]]], "std": [[[0.21548902508832837]], [[0.20225524596859248]], [[0.19618219080509205]]], "count": [268]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4722611060852819]], [[0.43946969107922873]], [[0.4264313235351277]]], "std": [[[0.2057000916948999]], [[0.19727620751764574]], [[0.1956363670112032]]], "count": [268]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1735]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1735]}, "observation.state": {"min": [4.37723976397925, -4.303937937737785, 0.6999975886894428, 0.0, 0.0, -0.16732445359230042, 0.9859018325805664, 0.0013675721513450867, -0.10134807704151827, 0.2577374501038179, -0.9974974989891052, -0.4400160312652588, -0.4765525460243225, 1.6601763491053134e-05, 0.006504188367807243, -0.0404052201626352], "max": [4.904801705250193, -2.0551381722082542, 0.7026066315755198, 0.0, 0.0, 8.079381950665265e-05, 1.0, 0.681694242941262, 0.08143774416799032, 0.7710319569514197, 0.9972401857376099, 0.49917590618133545, 0.4807119369506836, 0.1287239044904709, 0.04031235052177088, -0.01225013315270718], "mean": [4.677173362563955, -3.3670923163858184, 0.7010514011941603, 0.0, 0.0, -0.06859259547309246, 0.9967886728580816, 0.23660136174814164, -0.0322939022084326, 0.5366804637526302, 0.22554639938585352, 0.012451758186308726, 0.06917557534989861, 0.041848663124369065, 0.031840668131865354, -0.031780301368122224], "std": [0.17324772461375273, 0.8777413749295105, 0.000726699758165585, 0.0, 0.0, 0.04121195051812369, 0.002997002842802651, 0.17968346714631842, 0.03939056607952242, 0.12858607035580635, 0.9042551310960374, 0.1616402277393375, 0.31219679901918096, 0.034138804625166344, 0.010853887114433814, 0.010131049568687283], "count": [1735]}, "action": {"min": [-1.0, -1.0, -0.2571428571428571, 0.0, -1.0, -1.0, -0.5857142857142857, -0.9285714285714287, -0.30857142857142855, -0.4628571428571429, -0.35428571428571426, -1.0], "max": [1.0, 1.0, 0.3314285714285714, 0.0, 1.0, 0.95, 0.8285714285714285, 1.0, 0.13428571428571429, 0.4657142857142857, 0.4285714285714286, 1.0], "mean": [0.026998764923836995, 0.03414573898723756, -0.003934129271305067, 0.0, -0.3867435158501441, -0.001391519143680534, 0.006912309592424865, -0.013972828324413366, -0.0014409221902017297, -0.004665294359818856, -0.0007690407575133754, -0.02478386167146974], "std": [0.2915856125380029, 0.44483863714302285, 0.051409057082176676, 0.0, 0.9221873198802253, 0.4363117458638112, 0.10601092654671004, 0.32317223731970096, 0.038311704590122564, 0.09103856523768648, 0.06514895641053559, 0.9996928329245133], "count": [1735]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00922190211713314], "std": [0.09558690339326859], "count": [1735]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005763688760806917], "std": [0.024000764050325085], "count": [1735]}, "timestamp": {"min": [0.0], "max": [86.7], "mean": [43.35], "std": [25.0425637665156], "count": [1735]}, "frame_index": {"min": [0], "max": [1734], "mean": [867.0], "std": [500.851275330312], "count": [1735]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1735]}, "index": {"min": [49254], "max": [50988], "mean": [50121.0], "std": [500.851275330312], "count": [1735]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1735]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5600616905062806]], [[0.5336369485294118]], [[0.49935973115808824]]], "std": [[[0.18890354034993137]], [[0.17894194670767027]], [[0.18293822243374008]]], "count": [250]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6277370318244485]], [[0.574043208582261]], [[0.4891715549842984]]], "std": [[[0.24390894087614462]], [[0.19692315788453227]], [[0.1860665775654001]]], "count": [250]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5838266642252604]], [[0.5518298648609835]], [[0.49629880059934134]]], "std": [[[0.2272769588440254]], [[0.200747049728539]], [[0.19864707909755275]]], "count": [250]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1583]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1583]}, "observation.state": {"min": [2.528086426651393, -4.148752109142393, 0.6999980518846601, 0.0, 0.0, -0.05039288476109505, 0.680359959602356, 0.07177843953619223, -0.21564551214224226, 0.33867424712312655, -0.990884006023407, -0.4618745446205139, -0.47776180505752563, 2.451083855703473e-05, 0.0011747171883557488, -0.0407529402478904], "max": [4.809610182881064, -3.2335108449741345, 0.7060476600138075, 0.0, 0.0, 0.7328782081604004, 1.0, 0.7933445390664513, 0.021491786944133118, 0.7695520269713607, 0.9898980259895325, 0.4328135848045349, 0.5458953380584717, 0.2783777713775635, 0.04016469462370555, -0.01345858042842207], "mean": [3.9216808161367966, -3.7022154667499567, 0.7025137722054887, 0.0, 0.0, 0.31455492821522407, 0.8824247340951173, 0.3266959766768555, -0.048564133213319136, 0.5782616719338284, 0.30308016726131765, 0.004877683187088331, 0.09211037614849348, 0.03715610183244809, 0.030210626089942016, -0.03048014125753205], "std": [0.7660393921999088, 0.38141979835210893, 0.0022593344040746505, 0.0, 0.0, 0.32564894593388155, 0.12780674505488024, 0.19314083086870304, 0.0446291264981111, 0.10846843143602339, 0.8869536759238077, 0.12258942237992859, 0.3088706625805871, 0.03372905105828627, 0.011162362205498752, 0.010752641806155082], "count": [1583]}, "action": {"min": [-1.0, -1.0, -0.8342857142857143, 0.0, -1.0, -1.0, -0.9142857142857143, -1.0, -0.2885714285714286, -0.56, -0.2257142857142857, -1.0], "max": [1.0, 1.0, 0.76, 0.0, 1.0, 1.0, 1.0, 1.0, 0.18571428571428572, 0.39714285714285713, 0.46857142857142864, 1.0], "mean": [0.02464127786300877, 0.04398971211984478, 0.022113527659958485, 0.0, -0.3417561591914087, -0.0008798844869596393, 0.0037180759859218467, -0.02091868964894869, -0.0036224167493908496, -0.00017687934301958158, -0.0012525945311794976, 0.02969046114971573], "std": [0.3565877717467462, 0.34909556630231386, 0.25274251158826316, 0.0, 0.9397886611652284, 0.539486522722447, 0.1939357314673859, 0.3557021266676286, 0.043904856326636446, 0.09958232505247407, 0.0637806062354311, 0.9995591410800656], "count": [1583]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010107390582561493], "std": [0.10002614557743073], "count": [1583]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006317119393556538], "std": [0.02512594036810024], "count": [1583]}, "timestamp": {"min": [0.0], "max": [79.1], "mean": [39.550000000000004], "std": [22.848632344190754], "count": [1583]}, "frame_index": {"min": [0], "max": [1582], "mean": [791.0], "std": [456.9726468838151], "count": [1583]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1583]}, "index": {"min": [50989], "max": [52571], "mean": [51780.0], "std": [456.9726468838151], "count": [1583]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1583]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.586348745821048]], [[0.5607990778871397]], [[0.5249024925225071]]], "std": [[[0.18953841610740252]], [[0.20607260049340922]], [[0.22305816450668342]]], "count": [327]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5571039746860852]], [[0.5247043895772903]], [[0.498000290723072]]], "std": [[[0.22797993891700039]], [[0.22821744711067488]], [[0.22688750566354476]]], "count": [327]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5495697790050833]], [[0.5262256232312724]], [[0.5084329955417876]]], "std": [[[0.225655584020242]], [[0.22916515067259421]], [[0.23115306784415787]]], "count": [327]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [2259]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2259]}, "observation.state": {"min": [0.8092802321828921, -2.4506552878132344, 0.6999968510959756, 0.0, 0.0, -1.0, 2.500128175597638e-05, 0.019599032684261775, -0.27115488034365676, 0.24516403232745176, -0.9907664656639099, -0.293930321931839, -0.4960441589355469, 5.6162014516303316e-05, 0.00695356505510762, -0.040972365331082256], "max": [2.2186714199829494, -1.060121986535419, 0.7062833594158889, 0.0, 0.0, 1.0, 0.4995458126068115, 0.6380440356254613, 0.056451836285848156, 0.8164532600376319, 0.9912025928497314, 0.2128210961818695, 0.47132760286331177, 0.12803615629673004, 0.04031574914724246, -0.0031882153427158035], "mean": [1.288395345737896, -1.7937248472084293, 0.702883123114371, 0.0, 0.0, 0.4198194318980757, 0.08528521458641938, 0.21445510671104526, -0.08267807314447033, 0.5801195509451601, 0.10529936995850353, -0.0013932996866923616, 0.054947355848701196, 0.045224733909180546, 0.02822150371745301, -0.029648661301787466], "std": [0.4380080886026454, 0.4731709039787779, 0.0021441966490213108, 0.0, 0.0, 0.8975816527468112, 0.104044545382362, 0.1661494841314345, 0.0703196381884908, 0.13934863017833066, 0.9209242352251242, 0.08182889908695754, 0.3581511211146668, 0.02785627503717309, 0.012300946967408173, 0.011800771492161868], "count": [2259]}, "action": {"min": [-1.0, -1.0, -0.6285714285714286, 0.0, -1.0, -1.0, -0.6285714285714287, -1.0, -0.13142857142857142, -0.5657142857142857, -0.36857142857142855, -1.0], "max": [1.0, 1.0, 0.7171428571428572, 0.0, 1.0, 0.7214285714285715, 1.0, 1.0, 0.2142857142857143, 0.5457142857142857, 0.1742857142857143, 1.0], "mean": [0.041187630430658324, -0.030604565863530015, -0.000317460317460325, 0.0, -0.11376715360779106, -0.0066495921077594465, -0.0006007715171061815, -0.029295516347309165, -0.0009207613988490475, -0.004505153987225702, 0.00013027256055144293, -0.03939796370075255], "std": [0.46328154886226114, 0.28749602452975587, 0.17454958560872577, 0.0, 0.9935074407169604, 0.38999440535740465, 0.14917343243987735, 0.3357145139719295, 0.02156160479826249, 0.09709354461889032, 0.04508155939210218, 0.9992235988287352], "count": [2259]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0070827798917889595], "std": [0.08386068046092987], "count": [2259]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004426737494466578], "std": [0.02103515603455816], "count": [2259]}, "timestamp": {"min": [0.0], "max": [112.9], "mean": [56.449999999999996], "std": [32.60585325776135], "count": [2259]}, "frame_index": {"min": [0], "max": [2258], "mean": [1129.0], "std": [652.1170651552271], "count": [2259]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [2259]}, "index": {"min": [52572], "max": [54830], "mean": [53701.0], "std": [652.1170651552271], "count": [2259]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [2259]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5790546660193289]], [[0.5526199386681852]], [[0.5136098217175926]]], "std": [[[0.2250525126923746]], [[0.22263720204072246]], [[0.22733241981032912]]], "count": [274]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.537340666968986]], [[0.5075934091657806]], [[0.4722512096264715]]], "std": [[[0.23737519115983902]], [[0.22476742886034692]], [[0.22681442417982434]]], "count": [274]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5602479101814083]], [[0.5138784340595984]], [[0.46368627224730136]]], "std": [[[0.2240697251568694]], [[0.22185063977451427]], [[0.23561508925339214]]], "count": [274]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1781]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1781]}, "observation.state": {"min": [0.8055908908831131, -6.659147830974237, 0.6999986394253795, 0.0, 0.0, -1.0, 2.0907812086079502e-06, 0.035343670358360724, -0.160737340956997, 0.23737609141089433, -0.992990255355835, -0.24149221181869507, -0.4720167815685272, 7.961788469401654e-06, 0.017724473304199583, -0.040522788857021604], "max": [1.8408662385855579, -5.034631503731921, 0.7042385587750992, 0.0, 0.0, 1.0, 0.07040761411190033, 0.6367797680667819, 0.01686345740080686, 0.7507513492805937, 0.9890120029449463, 0.1605319082736969, 0.5710179805755615, 0.1355588436126709, 0.04022445126914452, -0.007967406970455207], "mean": [1.1315391191565325, -5.966091968973729, 0.7023354887014883, 0.0, 0.0, 0.72880434190069, 0.02628177042769507, 0.2370711068783522, -0.0629524221135127, 0.583428908908879, 0.30355068852163847, -0.04885868203566357, 0.19442523002691445, 0.03851748978014828, 0.032560483227601925, -0.03309803397186515], "std": [0.29423431207881967, 0.601489665568916, 0.0010803698011312586, 0.0, 0.0, 0.6838960169402978, 0.02097057960226024, 0.14926384047344476, 0.028174688223937344, 0.14424303059659888, 0.8600560760841224, 0.10245460097800642, 0.3392525192105966, 0.02998954033602352, 0.008562992110847174, 0.008331573217016141], "count": [1781]}, "action": {"min": [-1.0, -1.0, -0.12571428571428572, 0.0, -1.0, -1.0, -0.7285714285714285, -0.9785714285714284, -0.20857142857142857, -0.32857142857142857, -0.2571428571428571, -1.0], "max": [1.0, 1.0, 0.19142857142857142, 0.0, 1.0, 0.7000000000000001, 0.5928571428571429, 1.0, 0.24285714285714288, 0.34, 0.17714285714285713, 1.0], "mean": [0.015083821288200867, -0.030624849602951778, -0.003376915055747173, 0.0, -0.227400336889388, -0.005334081976417742, -0.009485040506938321, -0.01637122002085507, 0.0027063447501403702, -0.001251303441084462, -0.0004090799711237634, -0.08590679393599102], "std": [0.3984538221018893, 0.36303058975799246, 0.027483503073138838, 0.0, 0.9738013589960612, 0.38013949136658776, 0.09958986456289835, 0.320414394928472, 0.032742119350303904, 0.06579449714085002, 0.04017040155184441, 0.9963031781318513], "count": [1781]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008983717299997807], "std": [0.0943557545542717], "count": [1781]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005614823133071309], "std": [0.023688964749836033], "count": [1781]}, "timestamp": {"min": [0.0], "max": [89.0], "mean": [44.5], "std": [25.706516683518206], "count": [1781]}, "frame_index": {"min": [0], "max": [1780], "mean": [890.0], "std": [514.1303336703642], "count": [1781]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1781]}, "index": {"min": [54831], "max": [56611], "mean": [55721.0], "std": [514.1303336703642], "count": [1781]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1781]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4724553216436827]], [[0.4508027272697803]], [[0.43225036592823646]]], "std": [[[0.20225389375877031]], [[0.2008124916233766]], [[0.20822409781992968]]], "count": [254]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4675332730652393]], [[0.4171620903586428]], [[0.3877834820095838]]], "std": [[[0.24079284637769569]], [[0.23205570914334625]], [[0.23720604989144234]]], "count": [254]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45514854182611003]], [[0.40645113943976646]], [[0.377306680825089]]], "std": [[[0.25255620999622025]], [[0.2413757027616216]], [[0.24346744973406864]]], "count": [254]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1610]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1610]}, "observation.state": {"min": [0.7856940190206858, -1.7954766594461495, 0.6999967840959292, 0.0, 0.0, -1.0, 3.9484273628431765e-08, -0.029992958903946043, -0.2033601805123182, 0.25978953103055724, -0.9906207919120789, -0.22198393940925598, -0.7084686756134033, 1.9137119124934543e-06, -0.0015995966692284316, -0.040919114678992737], "max": [1.903023903276201, -0.7471416321439677, 0.7083629026620211, 0.0, 0.0, 1.0, 0.12246375530958176, 0.6308417478787228, 0.21264770436296343, 0.7829890414829435, 0.9684191942214966, 0.2526460886001587, 0.5253222584724426, 0.16839943826198578, 0.0401619871192879, -0.012284213434612662], "mean": [1.1078556373454165, -1.2521977710158698, 0.702985472650536, 0.0, 0.0, 0.6122789427730607, 0.03953094489317047, 0.23994357630557323, -0.03062637074461636, 0.612488586607548, 0.0002900941771750124, 0.012933727154820602, -0.012177349358611965, 0.05626866966459963, 0.026594952041461284, -0.028578438711603326], "std": [0.2757031931287143, 0.4480906807878366, 0.0028974744308540466, 0.0, 0.0, 0.7888900127425913, 0.03470394655817893, 0.19427721238708884, 0.08775802000098235, 0.14131592895376668, 0.9175033363153848, 0.10447419571786498, 0.376010336061757, 0.04906303845006858, 0.012167596816013374, 0.010860484069279556], "count": [1610]}, "action": {"min": [-1.0, -1.0, -0.2742857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.40857142857142864, -0.47714285714285715, -0.2057142857142857, -1.0], "max": [1.0, 1.0, 0.2914285714285714, 0.0, 1.0, 1.0, 0.8, 1.0, 0.5085714285714286, 0.7285714285714285, 0.20857142857142857, 1.0], "mean": [0.015221827861579409, 0.006592724046140192, -0.0012440106477373553, 0.0, -0.3403726708074534, -0.013212067435669925, -0.007781721384205846, -0.02756433007985806, -0.0022413487133984035, 0.006915705412599816, -0.00023957409050576667, 0.03975155279503106], "std": [0.40670368705099635, 0.34795923017162206, 0.05421196045191803, 0.0, 0.9402906172920172, 0.5258656862894054, 0.2334951819968594, 0.4011539396302003, 0.06013312698791731, 0.10298735530900263, 0.0466549014928585, 0.9992095946548881], "count": [1610]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009937888011336327], "std": [0.09919236600399017], "count": [1610]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006211180124223603], "std": [0.024914498285877735], "count": [1610]}, "timestamp": {"min": [0.0], "max": [80.45], "mean": [40.225], "std": [23.23834385234886], "count": [1610]}, "frame_index": {"min": [0], "max": [1609], "mean": [804.5], "std": [464.7668770469772], "count": [1610]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1610]}, "index": {"min": [56612], "max": [58221], "mean": [57416.5], "std": [464.7668770469772], "count": [1610]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1610]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48895920925541275]], [[0.43449876580525565]], [[0.4142950866501192]]], "std": [[[0.2104460939809478]], [[0.21813242382613965]], [[0.21926735750040102]]], "count": [278]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5270196566781502]], [[0.4657615038483919]], [[0.4400815124554768]]], "std": [[[0.2617152720645874]], [[0.2778473748862453]], [[0.2649027346761739]]], "count": [278]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5186525680363339]], [[0.46089052363635286]], [[0.43968131438954994]]], "std": [[[0.2466043133773343]], [[0.2624077280166922]], [[0.25541185708723724]]], "count": [278]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1822]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1822]}, "observation.state": {"min": [0.6003120824414221, -2.379461297790047, 0.699998703235081, 0.0, 0.0, -0.9999998807907104, 2.583643072284758e-05, 0.04495983168942863, -0.23095761191359632, 0.2640309924835499, -0.9911686182022095, -0.150143101811409, -0.5371336340904236, 1.5044854990264867e-05, 0.014801352386445121, -0.0406136995816501], "max": [3.1037497469190787, -1.425988822874151, 0.7024579039956558, 0.0, 0.0, 1.0, 0.6955692768096924, 0.6183598217138726, 0.13400167405931085, 0.8552393600038145, 0.9887286424636841, 0.15403234958648682, 0.6291633248329163, 0.1254616230726242, 0.040176325052857995, -0.01501106226237041], "mean": [1.7473191865395012, -1.8682631115594908, 0.7009588796009859, 0.0, 0.0, -0.2196091668665998, 0.32237829010703883, 0.23551291918792297, -0.07233564761941197, 0.5298396370954872, 0.241593191050541, 0.013944627563791138, 0.1097435177304873, 0.04053512035581939, 0.03590657892053925, -0.033952587085989465], "std": [0.9667962420236387, 0.3396224858825374, 0.00042375873743018884, 0.0, 0.0, 0.8688716834561099, 0.3048049419869129, 0.14671965289858876, 0.06179890811004766, 0.13913872697480315, 0.9046994015602109, 0.08002514930085121, 0.31966378496781384, 0.026107014997582292, 0.007714491868510903, 0.00791588017951446], "count": [1822]}, "action": {"min": [-1.0, -1.0, -0.6942857142857143, 0.0, -1.0, -1.0, -0.7000000000000001, -0.8357142857142857, -0.24285714285714288, -0.44857142857142857, -0.2257142857142857, -1.0], "max": [1.0, 1.0, 0.6657142857142857, 0.0, 1.0, 0.6428571428571428, 0.7571428571428572, 1.0, 0.1457142857142857, 0.58, 0.2714285714285714, 1.0], "mean": [0.015626470127018982, 0.028924259055982414, 0.017145993413830954, 0.0, -0.1394072447859495, -0.003112748941508548, -0.009248079034028548, -0.013105692331817473, -0.0014599341383095502, -0.004914536615963618, 0.0005049396267837554, 0.005488474204171241], "std": [0.45550446010302736, 0.2845941836896764, 0.2233255432088637, 0.0, 0.9902351337440765, 0.38706046002694205, 0.13181433012094193, 0.2796607248487918, 0.022768890358514118, 0.08931617783044915, 0.03622446290967266, 0.9999849382120035], "count": [1822]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008232710883021355], "std": [0.09036003053188324], "count": [1822]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005488474204171241], "std": [0.02342106289061676], "count": [1822]}, "timestamp": {"min": [0.0], "max": [91.05], "mean": [45.525], "std": [26.298300800622084], "count": [1822]}, "frame_index": {"min": [0], "max": [1821], "mean": [910.5], "std": [525.9660160124416], "count": [1822]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1822]}, "index": {"min": [58222], "max": [60043], "mean": [59132.5], "std": [525.9660160124416], "count": [1822]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1822]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5260464973657341]], [[0.4828090353773198]], [[0.45913713680219553]]], "std": [[[0.2000493974830239]], [[0.21947058394573224]], [[0.23570774747277304]]], "count": [299]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5043709971520289]], [[0.4399025979530804]], [[0.40259611690245317]]], "std": [[[0.23659197223919756]], [[0.23528201236521287]], [[0.24700852838776619]]], "count": [299]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4748043913099835]], [[0.4286389595235369]], [[0.402929208192507]]], "std": [[[0.24755510301492278]], [[0.2415227055750867]], [[0.24724437221485313]]], "count": [299]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [2003]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2003]}, "observation.state": {"min": [0.7689198381474852, -2.7187143496861528, 0.6999983809932397, 0.0, 0.0, -1.0, 1.0597794641853397e-07, -0.05380474647740563, -0.2109769990225785, 0.261894686897319, -0.9925476312637329, -0.30030179023742676, -0.5880010724067688, 1.2293087820580695e-05, 0.013771508179891024, -0.040222068327469385], "max": [1.8518512806080858, -1.3091215470510063, 0.7059888418252094, 0.0, 0.0, 1.0, 0.11951851844787598, 0.5767803987462387, 0.21942047628150063, 0.8565341647098378, 0.991344153881073, 0.31728067994117737, 0.7046564221382141, 0.18430529534816742, 0.04015666704180587, -0.012495741849695315], "mean": [1.0711143376644534, -1.885135538134725, 0.7037015705263868, 0.0, 0.0, 0.579534911389239, 0.03968174069137135, 0.2120439825053949, 0.009144546324542355, 0.5977291521442124, -0.3231367497103725, -0.020400286676790853, -0.04570362201361316, 0.03197910157179147, 0.031001567312325704, -0.03158978142404382], "std": [0.27514305157224717, 0.5435553816776209, 0.0021140967043471203, 0.0, 0.0, 0.8132891842149774, 0.03354638950408356, 0.19386535636273472, 0.08571506990067422, 0.1616736651368008, 0.8683518679770117, 0.09778405350855424, 0.3572226679520282, 0.02915927552384042, 0.009876073844283772, 0.010187390610612261], "count": [2003]}, "action": {"min": [-1.0, -1.0, -0.20285714285714287, 0.0, -1.0, -1.0, -0.9071428571428573, -1.0, -0.09428571428571429, -0.5885714285714285, -0.23428571428571432, -1.0], "max": [1.0, 1.0, 0.20285714285714287, 0.0, 1.0, 0.8285714285714285, 0.807142857142857, 1.0, 0.2142857142857143, 0.6, 0.4371428571428572, 1.0], "mean": [0.02137151415733543, 0.017227729833820704, 0.0010412952000570573, 0.0, -0.38292561158262606, -0.004985379074245779, -0.008694101704585983, -0.017830397261251008, 0.0014606661436416812, -0.0010626916767705575, -0.001300905784180871, -0.04343484772840739], "std": [0.3619704345653042, 0.3166181579019667, 0.04357541592413693, 0.0, 0.9237791814032605, 0.4410226290297576, 0.17292031938173064, 0.3587324556686295, 0.0267620878901356, 0.10284450039083586, 0.047024704308071624, 0.999056261680382], "count": [2003]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010484273545444012], "std": [0.10185457020998001], "count": [2003]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004992511233150275], "std": [0.02233834979650234], "count": [2003]}, "timestamp": {"min": [0.0], "max": [100.1], "mean": [50.05], "std": [28.910811126635654], "count": [2003]}, "frame_index": {"min": [0], "max": [2002], "mean": [1001.0], "std": [578.2162225327131], "count": [2003]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [2003]}, "index": {"min": [60044], "max": [62046], "mean": [61045.0], "std": [578.2162225327131], "count": [2003]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [2003]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4602781713987254]], [[0.4492720890039075]], [[0.42711390158892093]]], "std": [[[0.1944374922382041]], [[0.18446027431223044]], [[0.18761231217940713]]], "count": [307]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0392156862745098]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43272993530343606]], [[0.42638282695477164]], [[0.41658802031252495]]], "std": [[[0.22460866247837916]], [[0.2209379969497292]], [[0.21717885383233154]]], "count": [307]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45506735175111374]], [[0.4492419285069802]], [[0.43952156549792276]]], "std": [[[0.21828030990595643]], [[0.21428476619025844]], [[0.2101336050150836]]], "count": [307]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2074]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2074]}, "observation.state": {"min": [4.206159902929408, -4.339225835543148, 0.6999980316494793, 0.0, 0.0, -0.11779053509235382, 0.863189697265625, -0.03583005183040555, -0.21106369455063634, 0.25296029234420014, -0.9875498414039612, -0.14082956314086914, -0.5171910524368286, 2.9605678264488233e-06, 0.020536268071310492, -0.040091206123043184], "max": [4.882058339220522, -1.542427917063013, 0.7021969674890922, 0.0, 0.0, 0.5048795938491821, 1.0, 0.6999638672070514, 0.08013233053273217, 0.7811322850637971, 0.9902569651603699, 0.35910338163375854, 0.6723721623420715, 0.15222656726837158, 0.04007915047690879, -0.020530291085410053], "mean": [4.635843312464609, -3.177192505938958, 0.7007165705697019, 0.0, 0.0, -0.014233432417466788, 0.9942680615123466, 0.21799835902506134, 0.0027064094584832465, 0.5747293602863163, 0.1665397507992637, 0.06827760459055895, 0.09013733009851772, 0.032768938828043034, 0.03796854976067006, -0.03587035085946384], "std": [0.17885849907428716, 1.133548252314547, 0.0006299946084035016, 0.0, 0.0, 0.10414684854401339, 0.019541763611822506, 0.18962986194673334, 0.03474122320773027, 0.13799622642054987, 0.9016586250193444, 0.12504476289362185, 0.3580048711852991, 0.040152029800572024, 0.0023946885131854796, 0.00432130599297492], "count": [2074]}, "action": {"min": [-1.0, -1.0, -0.7914285714285716, 0.0, -1.0, -1.0, -0.8714285714285716, -1.0, -0.2914285714285714, -0.5828571428571429, -0.26, -1.0], "max": [1.0, 1.0, 0.6828571428571428, 0.0, 1.0, 0.807142857142857, 0.5642857142857142, 1.0, 0.4028571428571428, 0.41714285714285715, 0.5228571428571429, 1.0], "mean": [0.04682118749138996, 0.037363961978233926, -0.004271938283510131, 0.0, -0.22372227579556414, -0.005324424851907979, -0.00691899710703954, -0.012133213941314211, 0.0002589888414382163, -0.0016724066675850677, -0.003202920512467281, -0.037608486017357765], "std": [0.2919901652350211, 0.48131471516553437, 0.13812493416752117, 0.0, 0.9746529347992832, 0.42092333084870226, 0.13324060690037975, 0.33012380038416433, 0.04928053637453814, 0.0907787772054221, 0.06804513509909899, 0.9992925506474434], "count": [2074]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008196720853447914], "std": [0.0901639387011528], "count": [2074]}, "next.done": {"min": [false], "max": [true], "mean": [0.00048216007714561236], "std": [0.021952849446156626], "count": [2074]}, "timestamp": {"min": [0.0], "max": [103.65], "mean": [51.825], "std": [29.935607977791264], "count": [2074]}, "frame_index": {"min": [0], "max": [2073], "mean": [1036.5], "std": [598.7121595558253], "count": [2074]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [2074]}, "index": {"min": [62047], "max": [64120], "mean": [63083.5], "std": [598.7121595558253], "count": [2074]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2074]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5145592455987891]], [[0.4914240514567094]], [[0.46997172455237546]]], "std": [[[0.21831730959651216]], [[0.20622716449830922]], [[0.21648026435640771]]], "count": [258]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5472311938057229]], [[0.5206333803431135]], [[0.49761037413409676]]], "std": [[[0.23200296330053563]], [[0.22305564933200867]], [[0.2231635587982118]]], "count": [258]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5164359500187475]], [[0.49662741286936896]], [[0.47944218324915505]]], "std": [[[0.24769239516586397]], [[0.23772010418129885]], [[0.23470142471184222]]], "count": [258]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1649]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1649]}, "observation.state": {"min": [1.8987816364835581, -1.9807298960551574, 0.6999964340905781, 0.0, 0.0, 0.639739453792572, 0.25409606099128723, -0.07031121604067525, -0.3112293998010718, 0.2916128478401445, -0.9957950115203857, -0.26170361042022705, -0.4370085895061493, 0.00012517835421022028, 0.009214326676287937, -0.04074383252845623], "max": [3.6126672186381716, -0.7409021049892618, 0.7038227594187484, 0.0, 0.0, 0.9671790599822998, 0.7685918211936951, 0.5084750255328482, 0.12129553032774831, 0.7268467608788928, 0.974248468875885, 0.2610877752304077, 0.4949641525745392, 0.19387483596801758, 0.04000053954140166, -0.01707748414377079], "mean": [2.9417334424765116, -1.095838951357037, 0.7014812504652455, 0.0, 0.0, 0.716495676319696, 0.6918442569551069, 0.17041877858479576, -0.12513514408311022, 0.5357604945968332, 0.20107803191467805, 0.022433498701483933, 0.0868664753661147, 0.048338788057862556, 0.02882407227094476, -0.030360083271615455], "std": [0.5970353097105959, 0.30958736152526684, 0.0011854555198535519, 0.0, 0.0, 0.04995557727868004, 0.07409392955598892, 0.17293727244840676, 0.07848108655540374, 0.12141708636140532, 0.905990488299809, 0.12475554777568745, 0.3336640239145892, 0.03830858719356872, 0.009731296317746743, 0.008763310495747823], "count": [1649]}, "action": {"min": [-1.0, -1.0, -0.8171428571428573, 0.0, -1.0, -1.0, -1.0, -1.0, -0.31142857142857144, -0.5228571428571429, -0.4028571428571428, -1.0], "max": [1.0, 1.0, 0.5285714285714286, 0.0, 1.0, 0.942857142857143, 1.0, 1.0, 0.56, 0.32857142857142857, 0.2542857142857143, 1.0], "mean": [0.0220739842328684, 0.0006584076929741038, -0.00038291605301914487, 0.0, -0.22013341419041843, -0.006627393225331371, -0.0002079182188339169, -0.007688642467296199, -0.001855670103092784, -0.006213289439487137, -0.0006237546565017749, 0.10006064281382657], "std": [0.4237550822346682, 0.3920198124220357, 0.12709022681008214, 0.0, 0.9754697739842325, 0.45492014692859134, 0.23762906965487332, 0.381016922861802, 0.0647280268832524, 0.06832298188177377, 0.06829673700954748, 0.9949813404078008], "count": [1649]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009702850133180618], "std": [0.09802399575710297], "count": [1649]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006064281382656155], "std": [0.024618293669113934], "count": [1649]}, "timestamp": {"min": [0.0], "max": [82.4], "mean": [41.2], "std": [23.80126047082381], "count": [1649]}, "frame_index": {"min": [0], "max": [1648], "mean": [824.0], "std": [476.0252094164762], "count": [1649]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1649]}, "index": {"min": [64121], "max": [65769], "mean": [64945.0], "std": [476.0252094164762], "count": [1649]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1649]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.515393807559473]], [[0.4884462552833083]], [[0.468310828536823]]], "std": [[[0.21288560463305292]], [[0.21747140540100635]], [[0.23840644521158197]]], "count": [355]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45447358787471304]], [[0.40738051082902904]], [[0.3869628988843832]]], "std": [[[0.22445651229981176]], [[0.24040351837877832]], [[0.2533674458541347]]], "count": [355]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5013348213370681]], [[0.4541458164437375]], [[0.4333146411692428]]], "std": [[[0.23293892842762393]], [[0.25718740360037506]], [[0.2736083510095132]]], "count": [355]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [2517]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2517]}, "observation.state": {"min": [1.787881143686821, -4.413875183437033, 0.6999976387885095, 0.0, 0.0, -0.08650059998035431, 0.9812381863594055, -0.09672589116037678, -0.25013027778063535, 0.2660188134935282, -0.9928485155105591, -0.5588225722312927, -0.5599237680435181, 2.9864462703699246e-05, 0.0032873061757521024, -0.0411197812175325], "max": [3.006755319677028, -2.444961787752506, 0.7048292864816817, 0.0, 0.0, 0.19279919564723969, 1.0, 0.6773268700028288, 0.2168085344324855, 0.7482274098506271, 0.9958431124687195, 0.5737279653549194, 0.5113189220428467, 0.3412812650203705, 0.040192591253138524, -0.011506565877874133], "mean": [2.694185153598577, -3.438511632621646, 0.7022436402350849, 0.0, 0.0, -0.015781244928505474, 0.9991527448157067, 0.17162121587692244, -0.058580273995765555, 0.563989672128138, -0.26318903768825114, 0.02674609086119944, -0.13699302485833936, 0.07940942175174308, 0.03209579388618658, -0.0319547154813394], "std": [0.3151576806155928, 0.8078966074611299, 0.0015381260559192435, 0.0, 0.0, 0.037957280009622237, 0.0020015713826213775, 0.17775221320874554, 0.1110858908350125, 0.13510016152797802, 0.8783853825850146, 0.18742899245687614, 0.3028324114153444, 0.08090275249327968, 0.009383323426556518, 0.009215376776210217], "count": [2517]}, "action": {"min": [-1.0, -1.0, -0.44857142857142857, 0.0, -1.0, -1.0, -0.8142857142857143, -1.0, -0.2571428571428571, -0.5142857142857142, -0.3, -1.0], "max": [1.0, 1.0, 0.37714285714285717, 0.0, 1.0, 0.7785714285714286, 0.7428571428571429, 1.0, 0.16857142857142857, 0.6314285714285715, 0.17142857142857143, 1.0], "mean": [0.029956297179181572, 0.010681650490947254, -0.00024064929905216108, 0.0, -0.2808899483512118, -0.012932061978545907, 0.006175151824734672, -0.020267892615926, -0.005553096089448887, -0.005400987570236676, -0.0030977921561950177, -0.04807310290027811], "std": [0.3472170672143184, 0.35708022600431716, 0.05505682577513468, 0.0, 0.9597399840140155, 0.3507647342714032, 0.1507606277180482, 0.2826611424829095, 0.04122085820112956, 0.09827503244083173, 0.04229738863754354, 0.9988438200127111], "count": [2517]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011521652340888977], "std": [0.10671880841255188], "count": [2517]}, "next.done": {"min": [false], "max": [true], "mean": [0.0003972983710766786], "std": [0.019928384908993964], "count": [2517]}, "timestamp": {"min": [0.0], "max": [125.8], "mean": [62.9], "std": [36.32976282150307], "count": [2517]}, "frame_index": {"min": [0], "max": [2516], "mean": [1258.0], "std": [726.5952564300613], "count": [2517]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2517]}, "index": {"min": [65770], "max": [68286], "mean": [67028.0], "std": [726.5952564300613], "count": [2517]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [2517]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5436474422679227]], [[0.48449337349685967]], [[0.44735064266429225]]], "std": [[[0.14784359817714232]], [[0.17134049839155752]], [[0.20179735767072152]]], "count": [250]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.050980392156862744]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5679910654105392]], [[0.5152357029335172]], [[0.4791163854262408]]], "std": [[[0.1610395326981161]], [[0.18712834859272]], [[0.20923757991377892]]], "count": [250]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5657289467007506]], [[0.5206386929381128]], [[0.4900849116306679]]], "std": [[[0.16894582863553148]], [[0.19130417408381523]], [[0.21132766972708394]]], "count": [250]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1577]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1577]}, "observation.state": {"min": [0.6052673315460622, -2.384228996862662, 0.6999972644985458, 0.0, 0.0, -1.0, 7.33586130081676e-05, -0.06659067936078245, -0.21207341163653393, 0.25433502534551433, -0.9867814183235168, -0.24721652269363403, -0.5172394514083862, 4.182866632618243e-06, 0.018230029261034144, -0.04075313534966878], "max": [3.1565852859030605, -1.500260937983287, 0.7030645832371171, 0.0, 0.0, 1.0, 0.6865025758743286, 0.5779726068376874, 0.0920753552163256, 0.7557180795922754, 0.9941073656082153, 0.34257495403289795, 0.42268991470336914, 0.2584466338157654, 0.04054075378281302, -0.007162291729877617], "mean": [1.7090770379444689, -1.8500911726208433, 0.7012345780104183, 0.0, 0.0, -0.24927179724185922, 0.28930006586683116, 0.18072076877552207, -0.02526733563038959, 0.5262143173977626, -0.5675548745169243, -0.06464697451306509, -0.18034376924976792, 0.051062714875336666, 0.034309342506225984, -0.032976649456303346], "std": [0.9761228550650439, 0.3266239263569956, 0.0008291551405303585, 0.0, 0.0, 0.8766682530475566, 0.2926120825617017, 0.17246425094942466, 0.05511356652279475, 0.11265168656865847, 0.7482548985819719, 0.13717689925837276, 0.24243701129839654, 0.03305079925917712, 0.007329298167622801, 0.00932610701344935], "count": [1577]}, "action": {"min": [-1.0, -1.0, -0.8971428571428571, 0.0, -1.0, -1.0, -0.6500000000000001, -1.0, -0.34285714285714286, -0.4028571428571428, -0.44857142857142857, -1.0], "max": [1.0, 1.0, 0.7571428571428571, 0.0, 1.0, 1.0, 0.9642857142857144, 1.0, 0.18, 0.3742857142857143, 0.26857142857142857, 1.0], "mean": [0.007224386266872025, 0.045040311622429545, 0.018994474137150084, 0.0, -0.11731135066582118, 0.0038273394329196657, 0.003351752876166322, -0.020223752151463038, -0.0036198931062596243, -4.891747440891242e-05, -0.0018081347948183703, -0.012048192771084338], "std": [0.47602810043325094, 0.3657547030202527, 0.24261832816195192, 0.0, 0.9930951852692338, 0.5001610984291999, 0.15021292011592952, 0.34813688576681395, 0.0360008691123154, 0.07393229627848441, 0.059540965690871986, 0.99992741789138], "count": [1577]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010145846754312515], "std": [0.10021430999040604], "count": [1577]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006341154090044388], "std": [0.025173662956600135], "count": [1577]}, "timestamp": {"min": [0.0], "max": [78.8], "mean": [39.4], "std": [22.76202978646676], "count": [1577]}, "frame_index": {"min": [0], "max": [1576], "mean": [788.0], "std": [455.2405957293352], "count": [1577]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1577]}, "index": {"min": [68287], "max": [69863], "mean": [69075.0], "std": [455.2405957293352], "count": [1577]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1577]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5337175568505282]], [[0.50582411181775]], [[0.4924182238784928]]], "std": [[[0.2009174927988839]], [[0.19714562863490373]], [[0.1852818626267762]]], "count": [342]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5173321605289137]], [[0.5024228649229074]], [[0.48175130572262714]]], "std": [[[0.2661503022875182]], [[0.24476680854880273]], [[0.22645264135905502]]], "count": [342]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.493206151632688]], [[0.4860987032188378]], [[0.4752192335081762]]], "std": [[[0.2554612260639506]], [[0.23759252216166968]], [[0.2231722500712744]]], "count": [342]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [2395]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2395]}, "observation.state": {"min": [0.7905364749238422, -2.415016836725284, 0.6999755366853467, 0.0, 0.0, -1.0, 7.075852295201912e-07, -0.1365074247024034, -0.18186471834570694, 0.2518172708361299, -0.9906637668609619, -0.24819913506507874, -0.4684944152832031, 1.1972134643656318e-06, 0.01948810510669329, -0.040595816137127046], "max": [2.1377665760962263, -0.9420975564548079, 0.7054546931313789, 0.0, 0.0, 1.0, 0.43205857276916504, 0.6339359304134579, 0.19327672619753777, 0.7892500682752952, 0.9902522563934326, 0.2157585322856903, 0.476220041513443, 0.14262183010578156, 0.04008236903478052, -0.020444679878463875], "mean": [1.238064122163902, -1.759527392334766, 0.7021719716002051, 0.0, 0.0, 0.5485775027245221, 0.07018759367046058, 0.14017643698881693, -0.045217256933263186, 0.5656085294070742, -0.16117929085809155, -0.03372485347107706, -0.021627330524936348, 0.024108017585346586, 0.03246791688864618, -0.034144230204699456], "std": [0.44574861896903734, 0.5463621858313334, 0.0019019204590314833, 0.0, 0.0, 0.8301191181223633, 0.07098355225965589, 0.20699007698243882, 0.05612726311873804, 0.13042333129537528, 0.9205906974769938, 0.07820945736843271, 0.34319727933956434, 0.021133159634432058, 0.00763317002446657, 0.0070503598757847], "count": [2395]}, "action": {"min": [-1.0, -1.0, -0.5628571428571428, 0.0, -1.0, -1.0, -0.7571428571428572, -0.8714285714285716, -0.16857142857142857, -0.3142857142857143, -0.4028571428571428, -1.0], "max": [1.0, 1.0, 0.5714285714285714, 0.0, 1.0, 0.7857142857142857, 0.8428571428571429, 1.0, 0.2285714285714286, 0.34285714285714286, 0.26285714285714284, 1.0], "mean": [0.03437518640023862, -0.03815687444079929, 0.0009830002982403753, 0.0, -0.14154488517745303, -0.010363853265732175, 0.009430360870861921, -0.0441008052490306, 4.175365344467628e-05, -0.008953176260065608, -0.0016415150611392764, -0.009603340292275574], "std": [0.4465895462645658, 0.3234572930724355, 0.11828528641392701, 0.0, 0.9899318388051276, 0.39789294710246836, 0.1204990977045294, 0.3064961527892477, 0.022617931725947032, 0.06096546856686889, 0.0416053570988898, 0.9999538868643857], "count": [2395]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006680584512650967], "std": [0.0814613625407219], "count": [2395]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004175365344467641], "std": [0.02042944438033414], "count": [2395]}, "timestamp": {"min": [0.0], "max": [119.7], "mean": [59.85], "std": [34.56884435441833], "count": [2395]}, "frame_index": {"min": [0], "max": [2394], "mean": [1197.0], "std": [691.3768870883666], "count": [2395]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [2395]}, "index": {"min": [69864], "max": [72258], "mean": [71061.0], "std": [691.3768870883666], "count": [2395]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [2395]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5860264421466739]], [[0.5732036858027272]], [[0.5494552745892234]]], "std": [[[0.2118831149121463]], [[0.21412137892202768]], [[0.23310549186273521]]], "count": [271]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5876086468617587]], [[0.5822231503870214]], [[0.5753218123988886]]], "std": [[[0.24802985196639632]], [[0.24798058047698163]], [[0.24887143388619057]]], "count": [271]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6147893940002561]], [[0.6104692266315327]], [[0.6052375934220768]]], "std": [[[0.24359013180225114]], [[0.2441913470437987]], [[0.2462237114327292]]], "count": [271]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1760]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1760]}, "observation.state": {"min": [2.8764451431700686, -1.727785957220703, 0.6999971814129827, 0.0, 0.0, 0.5932748317718506, 0.45407989621162415, -0.0376933548568652, -0.09203308801986942, 0.2503769814936403, -0.9921345114707947, -0.17644312977790833, -0.48246297240257263, 2.1918060156167485e-05, 0.009435297791673496, -0.040084027548307054], "max": [3.836863376662525, -0.8849529230019131, 0.7053116173474315, 0.0, 0.0, 0.8909608721733093, 0.8050000071525574, 0.7288294832277546, 0.20273515707107093, 0.8106028150097658, 0.992110013961792, 0.21113064885139465, 0.7326709032058716, 0.24470767378807068, 0.040675075556289256, -0.003477561356053517], "mean": [3.4351209507290887, -1.1059107010568148, 0.701711969732723, 0.0, 0.0, 0.6862854738465765, 0.7250901358032769, 0.3019311617590765, 0.024224678186144575, 0.591562390243296, -0.0896865995770151, -0.013894189318472689, -0.040955063205381684, 0.06914126629537908, 0.0323829652060698, -0.02959948312582304], "std": [0.3909932664147952, 0.22265801324948875, 0.0016737132978604911, 0.0, 0.0, 0.039551343067410365, 0.0411367452820799, 0.17932296435770712, 0.06530974880324397, 0.14938063186789258, 0.9246156842339185, 0.09693781562857386, 0.3405833175969604, 0.0706918083109351, 0.009321798903554366, 0.011041283971072256], "count": [1760]}, "action": {"min": [-1.0, -1.0, -0.5628571428571428, 0.0, -1.0, -1.0, -0.6142857142857143, -1.0, -0.31142857142857144, -0.5628571428571428, -0.20285714285714287, -1.0], "max": [1.0, 1.0, 0.5514285714285714, 0.0, 1.0, 0.7714285714285714, 0.5642857142857142, 1.0, 0.23428571428571432, 0.9057142857142857, 0.17142857142857143, 1.0], "mean": [0.0346672077922078, 0.025044642857142873, -0.004449675324675327, 0.0, -0.38977272727272727, 0.0034699675324675397, 0.005000000000000007, -0.01856331168831168, -0.003303571428571432, 0.0008019480519480531, -0.002491883116883118, -0.03977272727272727], "std": [0.36612575537432074, 0.3135913194465802, 0.08152171148417045, 0.0, 0.9209110820673027, 0.4466488302386168, 0.1479627030801456, 0.33200854347392994, 0.04145677674270179, 0.10123493825492154, 0.0305050435164714, 0.9992087520459838], "count": [1760]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00909090880304575], "std": [0.09491187334060669], "count": [1760]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005681818181818182], "std": [0.023829792017625872], "count": [1760]}, "timestamp": {"min": [0.0], "max": [87.95], "mean": [43.975], "std": [25.40340774384413], "count": [1760]}, "frame_index": {"min": [0], "max": [1759], "mean": [879.5], "std": [508.06815487688266], "count": [1760]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1760]}, "index": {"min": [72259], "max": [74018], "mean": [73138.5], "std": [508.06815487688266], "count": [1760]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1760]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4733919937550015]], [[0.44443518088302947]], [[0.4226532461884041]]], "std": [[[0.1790965548582373]], [[0.17798246313808438]], [[0.1835772390204759]]], "count": [317]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4531803539071077]], [[0.4436725498713138]], [[0.4332152027274768]]], "std": [[[0.22561103205160904]], [[0.21888446455618304]], [[0.2120934779270718]]], "count": [317]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4378878994274723]], [[0.431603549927309]], [[0.4242792018735358]]], "std": [[[0.22455677263080787]], [[0.2206960670617841]], [[0.21763025702819103]]], "count": [317]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2167]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2167]}, "observation.state": {"min": [2.0455284957731084, -2.0887835516192435, 0.6999978290273525, 0.0, 0.0, 0.23744654655456543, 0.6343570947647095, -0.033793004149439754, -0.3949833963802347, 0.24326678812583402, -0.9761090278625488, -0.5065422058105469, -0.5938547253608704, 3.826792180916527e-06, 0.005520723531377553, -0.0407434649406616], "max": [3.2975954587607457, -1.0066654555943186, 0.7053498060545162, 0.0, 0.0, 0.7730401158332825, 0.9714006185531616, 0.6626630386126097, 0.03192561297361385, 0.7764952498306106, 0.9953179955482483, 0.2834388315677643, 0.5927549600601196, 0.22072698175907135, 0.040145416363510815, -0.013004758175102707], "mean": [2.637391488443261, -1.4319444003789743, 0.7031532198892221, 0.0, 0.0, 0.5745048957469004, 0.790327925834999, 0.25144706511928133, -0.10449718968558236, 0.5251852338838655, 0.4018587429896444, -0.03500931339710607, 0.14644857921360818, 0.05604069105574016, 0.03079813120958759, -0.03300656033607354], "std": [0.49557569439084687, 0.34911072826167017, 0.0014779898374308429, 0.0, 0.0, 0.1811116804968342, 0.1119126803191532, 0.18107982303677617, 0.0852408837635038, 0.14316113293863084, 0.8406490167850644, 0.138403948640522, 0.2891343818283333, 0.057017892635674174, 0.010052314527799578, 0.010826263490073542], "count": [2167]}, "action": {"min": [-1.0, -1.0, -0.43428571428571433, 0.0, -1.0, -1.0, -0.8, -0.7285714285714285, -0.20857142857142857, -0.4971428571428572, -0.24571428571428575, -1.0], "max": [1.0, 1.0, 0.6, 0.0, 1.0, 0.9857142857142858, 1.0, 1.0, 0.19142857142857142, 0.36857142857142855, 0.2571428571428571, 1.0], "mean": [0.010570901180038237, -0.05467730239303841, -0.002605313468257639, 0.0, -0.27365020766035997, -0.005784824312743104, -0.008721735117674186, -0.010508273452435882, 0.0005339837827147474, -0.003447821214318677, -0.006266728195662209, -0.0696815874480849], "std": [0.3889763878295711, 0.314239631849007, 0.14931774202555734, 0.0, 0.9618292799907203, 0.3920025785643082, 0.18137739533577835, 0.30101007279240716, 0.03293361491885083, 0.08705405520302913, 0.05658858298167082, 0.9975692839952169], "count": [2167]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00738347927108407], "std": [0.08560936897993088], "count": [2167]}, "next.done": {"min": [false], "max": [true], "mean": [0.00046146746654360867], "std": [0.021476836692607467], "count": [2167]}, "timestamp": {"min": [0.0], "max": [108.3], "mean": [54.15], "std": [31.277947502993225], "count": [2167]}, "frame_index": {"min": [0], "max": [2166], "mean": [1083.0], "std": [625.5589500598645], "count": [2167]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2167]}, "index": {"min": [74019], "max": [76185], "mean": [75102.0], "std": [625.5589500598645], "count": [2167]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2167]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.507972524210553]], [[0.47957630686215086]], [[0.4456866013512086]]], "std": [[[0.16575200336405013]], [[0.17427257026161666]], [[0.18254701079476057]]], "count": [406]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5295740244550474]], [[0.5326512293528672]], [[0.5109475998651414]]], "std": [[[0.18698495568305623]], [[0.1869331978346828]], [[0.18918465984605548]]], "count": [406]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5233843565839253]], [[0.5204652111046466]], [[0.4997097261882595]]], "std": [[[0.19013739160256088]], [[0.1873571611505689]], [[0.18701516250405226]]], "count": [406]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [3011]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [3011]}, "observation.state": {"min": [0.8285859479602751, -3.446318430929563, 0.6999821368155478, 0.0, 0.0, -0.9999992847442627, 0.0010779222939163446, -0.021147687279420957, -0.17811382737699488, 0.2452330304938044, -0.9910139441490173, -0.5255445837974548, -0.5650723576545715, 0.0001245264575118199, 0.005898107188065376, -0.04018634414862204], "max": [3.759730294969211, -1.0149465419297157, 0.7017746492658798, 0.0, 0.0, 0.9999994039535522, 1.0, 0.7042534938565972, 0.2965475738999994, 0.7729494612395459, 0.9929982423782349, 0.42911744117736816, 0.6309003829956055, 0.2275993674993515, 0.0400486207884414, -0.007209946400276741], "mean": [2.0285558026164288, -2.088048492044648, 0.7005253179969972, 0.0, 0.0, 0.5048626855911913, 0.5047728771194046, 0.1716502125771474, 0.006492909078500422, 0.6140487570134718, 0.14691273889364256, 0.01281204291135914, 0.040265523983586744, 0.05191901949806157, 0.030380848266816946, -0.03262591270541258], "std": [1.0472421587621399, 0.8432163669702928, 0.000566247979431842, 0.0, 0.0, 0.6041563368140416, 0.3539959557366687, 0.16297897159774535, 0.06582189374238423, 0.11090067078060958, 0.9114458575761231, 0.1289362979282175, 0.3541462192645213, 0.034028473804973244, 0.011115807830491514, 0.011085895582226028], "count": [3011]}, "action": {"min": [-1.0, -1.0, -0.7457142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.40857142857142864, -0.5485714285714286, -0.29714285714285715, -1.0], "max": [1.0, 1.0, 0.62, 0.0, 1.0, 0.7857142857142857, 1.0, 1.0, 0.26, 0.4028571428571428, 0.5028571428571429, 1.0], "mean": [0.1494733595862791, 0.06545523556483364, -0.10732741851307097, 0.0, 0.11391564264363999, -0.005048156758551971, 0.006454903449257478, -0.019995729942591477, -0.0018940076861033357, -0.006926982018313796, -0.0005873701190871595, 0.0900033211557622], "std": [0.4913896034032531, 0.32778388343549714, 0.2163262537570051, 0.0, 0.9934904259030819, 0.31877628325975954, 0.16033645914350875, 0.23443207566421273, 0.04060498730805814, 0.07761251427945107, 0.05495034038228989, 0.9959414652382614], "count": [3011]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.005313849076628685], "std": [0.07270221412181854], "count": [3011]}, "next.done": {"min": [false], "max": [true], "mean": [0.00033211557622052476], "std": [0.018221011922079314], "count": [3011]}, "timestamp": {"min": [0.0], "max": [150.5], "mean": [75.25], "std": [43.460039116411295], "count": [3011]}, "frame_index": {"min": [0], "max": [3010], "mean": [1505.0], "std": [869.200782328226], "count": [3011]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [3011]}, "index": {"min": [76186], "max": [79196], "mean": [77691.0], "std": [869.200782328226], "count": [3011]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [3011]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5344038470591878]], [[0.5295858112666977]], [[0.5206468750792951]]], "std": [[[0.19432227313702952]], [[0.19934725915601445]], [[0.19863354151469256]]], "count": [326]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4498917784198131]], [[0.4708440060422235]], [[0.47491203059390696]]], "std": [[[0.22594293130424262]], [[0.21258907272586985]], [[0.21144705366301203]]], "count": [326]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.461161658641421]], [[0.4803135657473963]], [[0.4843885976313455]]], "std": [[[0.21762884382367068]], [[0.20175277049847956]], [[0.19824619964837362]]], "count": [326]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2246]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2246]}, "observation.state": {"min": [1.9237052253610845, -4.353566565021419, 0.6999987502623829, 0.0, 0.0, -0.15316984057426453, 0.9881999492645264, -0.21384265750323017, -0.09754016785332897, 0.24576101531288508, -0.9915732145309448, -0.13733719289302826, -0.48124805092811584, 0.0001036546818795614, 0.007012802647617857, -0.04020117722273105], "max": [3.00866142985667, -2.717649081664786, 0.708606322662267, 0.0, 0.0, 0.05125068128108978, 1.0, 0.7463171403590341, 0.07431495861409632, 0.7562091994102448, 0.9982838034629822, 0.21912983059883118, 0.4283006191253662, 0.15334221720695496, 0.04022124023227914, -0.01345307914013611], "mean": [2.686983578382646, -3.689859629886348, 0.7031206594260118, 0.0, 0.0, -0.003764570863411237, 0.9992660117382889, 0.20597830306938045, -0.026800499287666556, 0.5301279685785868, 0.6150374495866356, 0.023996627792543527, 0.1468478286977217, 0.03442326734398821, 0.0327676187074205, -0.03255528731167433], "std": [0.28439945429305147, 0.6796178425310773, 0.002163072663619072, 0.0, 0.0, 0.038085483864945854, 0.0016711373696493184, 0.2642541631392812, 0.03445615726514603, 0.13126804888395383, 0.7309325649337779, 0.07342514386732311, 0.24100560301161456, 0.02581637257454729, 0.01046060608862796, 0.009465259144511547], "count": [2246]}, "action": {"min": [-1.0, -1.0, -0.23714285714285716, 0.0, -1.0, -1.0, -0.7142857142857143, -1.0, -0.12285714285714287, -0.4371428571428572, -0.1142857142857143, -1.0], "max": [1.0, 1.0, 0.20285714285714287, 0.0, 1.0, 1.0, 0.5928571428571429, 1.0, 0.17142857142857143, 0.26, 0.19714285714285715, 1.0], "mean": [0.06176377051265738, 0.017367383284569392, 0.0010596616206589532, 0.0, -0.2867319679430098, -0.01900203536445745, -0.0029894415468769853, -0.044208752067167, -0.0014145782979264724, -0.0059674341686808295, 0.00043378704999364034, -0.1246660730186999], "std": [0.39365108721104725, 0.3490967103858675, 0.05242868652963973, 0.0, 0.9580108446982655, 0.44996349617151254, 0.09315177751847806, 0.3277429149853523, 0.020217927499800146, 0.07313189457709038, 0.030210414650934492, 0.9921987554104696], "count": [2246]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007123775780200958], "std": [0.08410129696130753], "count": [2246]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004452359750667854], "std": [0.021095917614393826], "count": [2246]}, "timestamp": {"min": [0.0], "max": [112.25], "mean": [56.125], "std": [32.41821440178345], "count": [2246]}, "frame_index": {"min": [0], "max": [2245], "mean": [1122.5], "std": [648.364288035669], "count": [2246]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [2246]}, "index": {"min": [79197], "max": [81442], "mean": [80319.5], "std": [648.364288035669], "count": [2246]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2246]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6054687492987689]], [[0.5561910119711184]], [[0.5042485484889909]]], "std": [[[0.18399729098792184]], [[0.1790920134293488]], [[0.20210817035696999]]], "count": [256]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6502937983064091]], [[0.5466259435111401]], [[0.44397879441579186]]], "std": [[[0.2198802830274993]], [[0.20737702480076062]], [[0.2526279153479783]]], "count": [256]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6423214388828652]], [[0.5310986200968425]], [[0.4179411016258539]]], "std": [[[0.2285057889729913]], [[0.20863306818636987]], [[0.2538236051581191]]], "count": [256]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1631]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1631]}, "observation.state": {"min": [5.06271693770256, -2.7944433691927624, 0.6999771998294322, 0.0, 0.0, -0.045295268297195435, 0.9989736080169678, -0.041134490715319494, -0.060267674824355244, 0.2446676134818142, -0.9922084808349609, -0.4494035243988037, -0.4830271899700165, 1.889044688141439e-05, 0.013816040880573394, -0.04008421022537367], "max": [5.939640547604898, -1.0396214572720315, 0.7048186399490914, 0.0, 0.0, 0.03048514947295189, 1.0, 0.6128902310805024, 0.14864014628492894, 0.7837121314484573, 0.9883704781532288, 0.4483652114868164, 0.5746217966079712, 0.11822844296693802, 0.04017539323812671, -7.341613513065209e-05], "mean": [5.642755957693706, -2.0035209761760884, 0.7008320233484281, 0.0, 0.0, -0.01415353272951464, 0.9996662922683192, 0.22745841542578413, 0.02759163931045439, 0.5803872342899791, -0.3158646297191711, 0.019840082371804995, -0.10011180672979589, 0.02585993199252716, 0.0319599139054598, -0.030820991265356985], "std": [0.23939993530633313, 0.741202220133626, 0.0014047073983376648, 0.0, 0.0, 0.021608134156186027, 0.00026093216912270815, 0.18402579921783685, 0.04937651070599779, 0.14528862394864714, 0.8671498041407574, 0.1423533133145601, 0.3412814179343275, 0.02141363811459298, 0.009867678410687423, 0.010867919421122564], "count": [1631]}, "action": {"min": [-1.0, -1.0, -0.12571428571428572, 0.0, -1.0, -1.0, -0.8142857142857143, -1.0, -0.2, -0.3485714285714286, -0.3, -1.0], "max": [1.0, 1.0, 0.25142857142857145, 0.0, 1.0, 1.0, 0.5071428571428571, 1.0, 0.32, 0.36, 0.33714285714285713, 1.0], "mean": [0.016961548567925026, 0.03473767189279143, -0.0015573267933782944, 0.0, -0.3157572041692213, -0.006065516335289487, -0.004747306647981082, -0.010611369011123773, 0.0010282911447840929, 0.0020495751948848184, -0.0040518525006569125, -0.02023298589822195], "std": [0.36094230667946364, 0.42814204754283447, 0.027265819381766282, 0.0, 0.948840022351097, 0.5018651287716929, 0.1643276514161723, 0.39245245032833964, 0.03997469998972836, 0.07909973750188547, 0.05693317150293803, 0.999795292188187], "count": [1631]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009809932671487331], "std": [0.09855809807777405], "count": [1631]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006131207847946045], "std": [0.02475368392174905], "count": [1631]}, "timestamp": {"min": [0.0], "max": [81.5], "mean": [40.75], "std": [23.541452801388445], "count": [1631]}, "frame_index": {"min": [0], "max": [1630], "mean": [815.0], "std": [470.82905602776896], "count": [1631]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1631]}, "index": {"min": [81443], "max": [83073], "mean": [82258.0], "std": [470.82905602776896], "count": [1631]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1631]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5901751984316707]], [[0.5603106319061075]], [[0.5322553430606012]]], "std": [[[0.1849953066674258]], [[0.20483717816288988]], [[0.22119653812107962]]], "count": [316]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6087090142638963]], [[0.5836091578169477]], [[0.5496438936075877]]], "std": [[[0.2538120358796053]], [[0.24251145511340105]], [[0.23911824099755288]]], "count": [316]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6092080938813111]], [[0.5781008904315781]], [[0.5352549793643909]]], "std": [[[0.250342934956555]], [[0.23827261016885606]], [[0.23602667049072532]]], "count": [316]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [2157]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2157]}, "observation.state": {"min": [2.7246330275612203, -1.6651864646454464, 0.6999973427179811, 0.0, 0.0, 0.6238033771514893, 0.6800133585929871, -0.049952282713901175, -0.1558082901464628, 0.24678233130396687, -0.9938679933547974, -0.6119720339775085, -0.5153864026069641, 2.2894690118846484e-05, 0.00824186650037162, -0.040185027816758166], "max": [3.9128184638081134, -0.8084499514450714, 0.7034700359258965, 0.0, 0.0, 0.7331997752189636, 0.7815812826156616, 0.5932919008920443, 0.14489955485015527, 0.8256492818430416, 0.9931398630142212, 0.08004599809646606, 0.4948173761367798, 0.14206621050834656, 0.04029921412715563, -0.010933835713061545], "mean": [3.3535484457401235, -1.108581864290393, 0.7014249543470802, 0.0, 0.0, 0.6930744239009526, 0.7200309234910062, 0.2230601122532006, -0.010926471168581647, 0.5568365048853312, 0.09438572352165749, -0.05899157094621084, 0.009990105432219454, 0.029174247345951504, 0.032830933532822903, -0.031301191168602624], "std": [0.45846294633933204, 0.25850433147480206, 0.0009826621252922321, 0.0, 0.0, 0.02569999184637688, 0.023298451747816733, 0.18661651653148623, 0.06072926294864647, 0.14489231972846933, 0.9256894303441853, 0.10932126948440009, 0.34225243323124255, 0.025915269862771134, 0.010640743549242843, 0.01080989372383512], "count": [2157]}, "action": {"min": [-1.0, -1.0, -0.25142857142857145, 0.0, -1.0, -1.0, -0.6428571428571428, -0.8285714285714285, -0.11142857142857143, -0.38857142857142857, -0.20285714285714287, -1.0], "max": [0.9214285714285714, 1.0, 0.30285714285714294, 0.0, 1.0, 0.7357142857142858, 0.9928571428571428, 0.9071428571428573, 0.1, 0.21714285714285717, 0.16285714285714287, 1.0], "mean": [0.005656003708854889, 0.008546923637326976, -0.0021445128816477916, 0.0, -0.3082985628187297, -0.0052950526524935156, 0.0015232796873965147, -0.02181270282800183, -0.0002304788396582558, -0.004389694681767006, -0.006060003973773101, -0.007881316643486324], "std": [0.3227635821247499, 0.29531371494604497, 0.035635601077704394, 0.0, 0.9512896489313251, 0.4052438172105111, 0.14576677136173458, 0.26410033010746714, 0.013906750985946448, 0.06528884919101564, 0.035181114234398445, 0.9999689419416731], "count": [2157]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007417709566652775], "std": [0.08580610156059265], "count": [2157]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004636068613815484], "std": [0.02152654013211664], "count": [2157]}, "timestamp": {"min": [0.0], "max": [107.8], "mean": [53.9], "std": [31.133609920256063], "count": [2157]}, "frame_index": {"min": [0], "max": [2156], "mean": [1078.0], "std": [622.6721984051212], "count": [2157]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [2157]}, "index": {"min": [83074], "max": [85230], "mean": [84152.0], "std": [622.6721984051212], "count": [2157]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [2157]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47617809291254415]], [[0.45380566518886967]], [[0.42624306131143863]]], "std": [[[0.2637255093581584]], [[0.25361803245757464]], [[0.24610261352225457]]], "count": [238]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5203804560441478]], [[0.5292313326051353]], [[0.49296533619479505]]], "std": [[[0.24278779699997974]], [[0.2259110828166626]], [[0.22241890716953008]]], "count": [238]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5255931942874231]], [[0.5264830851558799]], [[0.4948056846891445]]], "std": [[[0.23465221487818363]], [[0.21939385843579542]], [[0.21063840482697868]]], "count": [238]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1478]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1478]}, "observation.state": {"min": [1.0900163521111348, -3.9283793829142826, 0.6999952171752101, 0.0, 0.0, -1.0, 0.0, 0.0023726842793294622, -0.08178146281447995, 0.29406462525985644, -0.9856289029121399, -0.5319664478302002, -0.5743077397346497, 4.20729384131846e-06, 0.015232911729828739, -0.040100650558566736], "max": [2.344062345679946, -2.4109490494448815, 0.7008460095759516, 0.0, 0.0, 1.0, 0.9999783039093018, 0.6851096121030369, 0.17791130794530785, 0.8172900003131409, 0.9738468527793884, 0.5660580992698669, 0.5275097489356995, 0.31483912467956543, 0.040235718206526785, -0.007840934326138322], "mean": [1.720016747825879, -3.319692961425348, 0.7003834861724554, 0.0, 0.0, 0.2507526255449021, 0.4395415712273914, 0.25980840160184454, 0.04506454832978664, 0.5823670173102967, -0.3259203465446245, 0.1566119614650819, -0.14199575714272963, 0.06937660955384202, 0.032344589770472554, -0.031783238590078706], "std": [0.5000035375066938, 0.5284906388982614, 0.00024324356066689602, 0.0, 0.0, 0.7498587744298748, 0.42619027305715207, 0.1672115984376868, 0.07018741358195398, 0.12736261246841865, 0.82571126189864, 0.26529971433335536, 0.29884137120174853, 0.052759128799848995, 0.00895451573743993, 0.00891039161263738], "count": [1478]}, "action": {"min": [-1.0, -0.95, -1.0, 0.0, -1.0, -1.0, -0.8357142857142857, -1.0, -0.3742857142857143, -0.7742857142857142, -0.5914285714285714, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6500000000000001, 1.0, 0.45999999999999996, 0.48571428571428577, 0.5914285714285714, 1.0], "mean": [0.03262613570462013, 0.041286487531413084, -0.04177266576454665, 0.0, -0.12855209742895804, 0.0036294219988401493, -0.005741349313744452, 0.0004446162768219719, 0.002426058380050264, -0.010367291706939882, -0.00375024163928088, -0.12313937753721245], "std": [0.49623846518923, 0.2775508036738259, 0.4048076363004221, 0.0, 0.9917027570026214, 0.5317417437768907, 0.17315814892269862, 0.37212895651832734, 0.08923194139823756, 0.12359930920468598, 0.10104093793211084, 0.9923893861281299], "count": [1478]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010825439356267452], "std": [0.10348066687583923], "count": [1478]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006765899864682003], "std": [0.026002542422971085], "count": [1478]}, "timestamp": {"min": [0.0], "max": [73.85], "mean": [36.925], "std": [21.333087563688476], "count": [1478]}, "frame_index": {"min": [0], "max": [1477], "mean": [738.5], "std": [426.66175127376954], "count": [1478]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1478]}, "index": {"min": [85231], "max": [86708], "mean": [85969.5], "std": [426.66175127376954], "count": [1478]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1478]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5636531847888671]], [[0.551297656176897]], [[0.5278748725884481]]], "std": [[[0.2072781143665656]], [[0.2082649477368763]], [[0.23177315695972642]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4935881035553365]], [[0.4767400325398209]], [[0.4670135477412948]]], "std": [[[0.24759510229240753]], [[0.24716145218012908]], [[0.25200641239059374]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.51158418289696]], [[0.4811266462572367]], [[0.46765494127843754]]], "std": [[[0.24520078884145538]], [[0.2558794603513578]], [[0.26382999489580145]]], "count": [203]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1195]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1195]}, "observation.state": {"min": [0.8761046472198606, -1.9574970961610456, 0.6999901469911992, 0.0, 0.0, -1.0, 7.899159726321159e-08, 0.06161955065580771, -0.118973841116647, 0.2754938994664795, -0.9882196187973022, -0.36181503534317017, -0.7205778956413269, 6.709164154017344e-05, 0.017896073031183558, -0.0401650041228465], "max": [2.010667532666343, -0.6874361264089256, 0.7008923934221934, 0.0, 0.0, 1.0, 0.3706355392932892, 0.6662135269035959, 0.33412990369288775, 0.8031760083008816, 0.9864102005958557, 0.3493601977825165, 0.565931499004364, 0.24649114906787872, 0.04021692880167288, -0.016347278498126807], "mean": [1.1683992629355842, -1.1834254816253051, 0.7003303856825449, 0.0, 0.0, 0.3599724228412038, 0.10694937868632483, 0.3202031455782632, 0.06965154873545772, 0.5317398304358252, -0.42142322666974247, 0.041933667597411566, -0.12914437546037238, 0.06274619669888863, 0.03425295427001564, -0.033313891714079495], "std": [0.3099335638295466, 0.4501372438678836, 0.0002929953627515778, 0.0, 0.0, 0.9221942530710767, 0.09240912624951998, 0.13847784957131765, 0.12222222035793297, 0.13400446720375714, 0.8281971766362483, 0.19418376336428864, 0.2725051130088213, 0.046386877528593023, 0.0074912377818212635, 0.00838166628759779], "count": [1195]}, "action": {"min": [-1.0, -1.0, -0.56, 0.0, -1.0, -1.0, -0.7642857142857143, -1.0, -0.42, -0.9028571428571428, -0.32, -1.0], "max": [1.0, 1.0, 0.5542857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5057142857142857, 0.62, 0.5514285714285714, 1.0], "mean": [0.036084877465630626, 0.03486551105797968, -0.01172982665869696, 0.0, -0.21171548117154812, 0.0014046622833233744, 0.020854751942618054, -0.002343096234309624, 0.002649133293484761, -0.011995218170950384, 0.0032540346682606086, -0.13138075313807532], "std": [0.5720785597662789, 0.4065372393223627, 0.15979007479193036, 0.0, 0.9773313435229156, 0.5439055683629007, 0.19473080761257017, 0.43877499898997335, 0.08525794706712728, 0.1592974927850427, 0.08589289780795999, 0.991331981580784], "count": [1195]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020083682611584663], "std": [0.14028659462928772], "count": [1195]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008368200836820083], "std": [0.028915736473926354], "count": [1195]}, "timestamp": {"min": [0.0], "max": [59.7], "mean": [29.85], "std": [17.248333252810255], "count": [1195]}, "frame_index": {"min": [0], "max": [1194], "mean": [597.0], "std": [344.9666650562051], "count": [1195]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1195]}, "index": {"min": [86709], "max": [87903], "mean": [87306.0], "std": [344.9666650562051], "count": [1195]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1195]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5786796848413124]], [[0.5423581248649874]], [[0.5188727185019896]]], "std": [[[0.19346707262377824]], [[0.19759828639697186]], [[0.2030331532124591]]], "count": [334]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5464793408716231]], [[0.5314346612668505]], [[0.515967797466017]]], "std": [[[0.21372038254134865]], [[0.21200458017674761]], [[0.21339939166532768]]], "count": [334]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5478561958544996]], [[0.5292909810978915]], [[0.5112615510305216]]], "std": [[[0.19983891357012942]], [[0.19434807343612776]], [[0.1933865917757683]]], "count": [334]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2324]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2324]}, "observation.state": {"min": [1.161209487461525, -3.923661369481629, 0.6999953566545115, 0.0, 0.0, -1.0, 2.7798793666988786e-07, -0.04676240356745104, -0.22331166323580964, 0.2637631980739771, -0.9996287226676941, -0.2263154685497284, -0.4804019033908844, 4.044552406412549e-05, 0.004428118453665689, -0.040715937263209594], "max": [3.01252826805909, -1.6792425644857887, 0.7088935830947474, 0.0, 0.0, 1.0, 0.9999954700469971, 0.6655906243825304, 0.18924128042331656, 0.7980608449215917, 0.999458909034729, 0.10708555579185486, 0.6649702191352844, 0.34071221947669983, 0.04003765926864741, 0.0008663419613904811], "mean": [1.8880249340046704, -3.0522290034996, 0.7038761010110036, 0.0, 0.0, -0.6126806444358025, 0.3540321311016029, 0.1991769140268982, -0.042366074711291446, 0.5426461182493594, 0.1515238562569971, -0.039568552483681095, -0.014366870677164153, 0.03385597274542453, 0.02788742653130001, -0.02800928554048556], "std": [0.6770631295410516, 0.8588141666219823, 0.0026431836296046942, 0.0, 0.0, 0.6259812276581743, 0.32776696758604157, 0.21989006839643144, 0.0645227340738918, 0.13829451098851245, 0.9514510067302666, 0.06781099111336752, 0.25204985256704027, 0.027124517123223675, 0.012317068239078523, 0.012502607477650108], "count": [2324]}, "action": {"min": [-1.0, -1.0, -0.6457142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3742857142857143, -0.6028571428571429, -0.15714285714285714, -1.0], "max": [1.0, 1.0, 0.8371428571428572, 0.0, 1.0, 1.0, 0.9071428571428573, 1.0, 0.16857142857142857, 0.47714285714285715, 0.23142857142857146, 1.0], "mean": [0.05349459060732735, -0.025983525940496667, -0.038845586427342, 0.0, -0.10843373493975904, -0.0032487091222031025, 0.005461642488320632, -0.024917014998770574, -0.0028669781165478235, 0.0011851487582985013, -0.0009909023850504053, 0.0025817555938037868], "std": [0.42876452321264635, 0.35929224554611056, 0.23352370879277973, 0.0, 0.9941036792644135, 0.454567540428836, 0.17055952451270925, 0.35929498746394894, 0.032441051707615035, 0.08777428131875689, 0.02692009755002561, 0.9999966672634664], "count": [2324]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006884681526571512], "std": [0.0826878547668457], "count": [2324]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004302925989672978], "std": [0.020739031974674513], "count": [2324]}, "timestamp": {"min": [0.0], "max": [116.15], "mean": [58.074999999999996], "std": [33.544047534547765], "count": [2324]}, "frame_index": {"min": [0], "max": [2323], "mean": [1161.5], "std": [670.8809506909553], "count": [2324]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [2324]}, "index": {"min": [87904], "max": [90227], "mean": [89065.5], "std": [670.8809506909553], "count": [2324]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [2324]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49546023827242447]], [[0.42301109435242235]], [[0.3908892357348434]]], "std": [[[0.17640023727446097]], [[0.18150548442469094]], [[0.18692585236800177]]], "count": [243]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5617839878796088]], [[0.49620154947246875]], [[0.463905836204]]], "std": [[[0.23863344504068926]], [[0.26642532659378787]], [[0.2536243894848429]]], "count": [243]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.521920285347654]], [[0.4670287315179657]], [[0.44099422822052076]]], "std": [[[0.23488722436781886]], [[0.2506636635284549]], [[0.24098571569327398]]], "count": [243]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1519]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1519]}, "observation.state": {"min": [0.7807729520805718, -3.254945347220619, 0.6999938231940409, 0.0, 0.0, -1.0, 5.494922916682299e-08, 0.022766230385011355, -0.06170726733545928, 0.24472423657713083, -0.992211103439331, -0.39154955744743347, -0.5571076273918152, 2.5205659767379984e-05, 0.013977750754648662, -0.04017754953732], "max": [2.1249097223550346, -1.204652441312715, 0.7004938111071568, 0.0, 0.0, 1.0, 0.8098500370979309, 0.6631055745670991, 0.30142396804788874, 0.7741816802904729, 0.982718288898468, 0.47507649660110474, 0.5646243691444397, 0.17993469536304474, 0.040251028699857264, -0.013093321031992827], "mean": [1.298080003353972, -2.3779702122557524, 0.7002394506741488, 0.0, 0.0, 0.46909728585457316, 0.2793843518003582, 0.21781529172148784, 0.09052674680433956, 0.5245640893420996, -0.7499864298784081, 0.15673828364360326, -0.21211178456031526, 0.0666970268586242, 0.03383860627882378, -0.03313037684767724], "std": [0.39842816333708914, 0.6332839982946428, 0.00011590840439261837, 0.0, 0.0, 0.7965210368319585, 0.2597043838444905, 0.14715952777245886, 0.06691388770714697, 0.10105577357698814, 0.555201001720242, 0.15955818423123008, 0.1664071974721924, 0.045991743201687946, 0.008945408913043714, 0.009291952191888364], "count": [1519]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.40571428571428575, -0.6914285714285714, -0.5028571428571429, -1.0], "max": [1.0, 1.0, 0.98, 0.0, 1.0, 1.0, 0.9928571428571428, 1.0, 0.48, 0.7371428571428571, 0.7857142857142858, 1.0], "mean": [0.13500893444935572, 0.0071287501175585355, -0.006474184143703578, 0.0, 0.09282422646477946, 0.0006536255055017335, 0.007570770243581287, 0.0008746355685131306, 0.0036339697169190267, -0.0036809931345810187, -0.0015028684284773813, -0.07834101382488479], "std": [0.6283824298105338, 0.30430241233299465, 0.4010692306731945, 0.0, 0.9956825111355655, 0.4859203940457644, 0.1942603500991346, 0.394987946961187, 0.06709477437664431, 0.1261585070619457, 0.08539130731876739, 0.9969266199439601], "count": [1519]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010533245280385017], "std": [0.10208963602781296], "count": [1519]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006583278472679394], "std": [0.02564945324394754], "count": [1519]}, "timestamp": {"min": [0.0], "max": [75.9], "mean": [37.95], "std": [21.924871721403527], "count": [1519]}, "frame_index": {"min": [0], "max": [1518], "mean": [759.0], "std": [438.4974344280705], "count": [1519]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1519]}, "index": {"min": [90228], "max": [91746], "mean": [90987.0], "std": [438.4974344280705], "count": [1519]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1519]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5924960640420001]], [[0.5658672164101548]], [[0.5517992603224271]]], "std": [[[0.18635239694334138]], [[0.20333444269541684]], [[0.2133126864408668]]], "count": [255]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5276377526634888]], [[0.5024055323147948]], [[0.4904012208533077]]], "std": [[[0.24426176502505903]], [[0.24693335744005077]], [[0.25435057288319946]]], "count": [255]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4884316731489241]], [[0.46871884930825886]], [[0.4581683624161981]]], "std": [[[0.2672159569955367]], [[0.2657279188792392]], [[0.2707418674062816]]], "count": [255]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1623]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1623]}, "observation.state": {"min": [2.7645882382713753, -4.65968715606464, 0.6999982696400355, 0.0, 0.0, -0.08850578218698502, 0.9960756897926331, -0.056828526351927255, -0.15875699317609904, 0.23920002692191467, -0.9928407669067383, -0.285923570394516, -0.41950753331184387, 2.943921208498068e-05, 0.016246477041803944, -0.040368521256623706], "max": [3.7980397154076404, -3.079409004168502, 0.7076098187706733, 0.0, 0.0, 0.0712723657488823, 1.0, 0.6134411771896757, 0.19741069114277288, 0.6581913283368872, 0.9869701862335205, 0.21113145351409912, 0.4734453856945038, 0.13520093262195587, 0.040625954786656725, -0.013065419807632006], "mean": [3.4690771181661635, -3.9984608752212103, 0.7026887836730732, 0.0, 0.0, -0.011295315600351791, 0.9986811561196657, 0.20106647227292485, 0.02706577658451319, 0.47898865680579156, -0.6388141093838751, 0.015059256234142565, -0.17175825800028247, 0.046909620091663114, 0.03302357912169103, -0.03191932988043805], "std": [0.2751525551356859, 0.5996175616498682, 0.0019585255293902613, 0.0, 0.0, 0.05006778282263845, 0.0012651700996952028, 0.19882226672948936, 0.05729404474953879, 0.11582906131164081, 0.7069455898555054, 0.11095257018641462, 0.2159498522108388, 0.03565757347356793, 0.00740293020299158, 0.010062171750414134], "count": [1623]}, "action": {"min": [-1.0, -1.0, -0.2914285714285714, 0.0, -1.0, -1.0, -0.6642857142857144, -1.0, -0.3657142857142857, -0.48, -0.23142857142857146, -1.0], "max": [1.0, 1.0, 0.23142857142857146, 0.0, 1.0, 0.9928571428571428, 1.0, 1.0, 0.11142857142857143, 0.62, 0.26571428571428574, 1.0], "mean": [0.014197693864976678, 0.0223439838042426, -0.0017903353578030108, 0.0, -0.348120764017252, -0.011451456737963212, 0.015592817533667806, -0.02872106328668251, -0.0013167854942346623, 0.002422321978699055, -0.00022885309391778986, -0.10659272951324707], "std": [0.4139085630468079, 0.3956840439512122, 0.041532243898071385, 0.0, 0.9374496966024581, 0.5381916565095582, 0.15729548351421732, 0.40962435364454186, 0.030148472244076095, 0.08769295579396377, 0.0441849632177991, 0.9943027657685092], "count": [1623]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009858286939561367], "std": [0.09879828989505768], "count": [1623]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006161429451632779], "std": [0.024814578639066255], "count": [1623]}, "timestamp": {"min": [0.0], "max": [81.1], "mean": [40.55], "std": [23.425982725739953], "count": [1623]}, "frame_index": {"min": [0], "max": [1622], "mean": [811.0], "std": [468.5196545147991], "count": [1623]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1623]}, "index": {"min": [91747], "max": [93369], "mean": [92558.0], "std": [468.5196545147991], "count": [1623]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1623]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6289897750405704]], [[0.6087719964046104]], [[0.5911538967899248]]], "std": [[[0.21534243688945015]], [[0.21722477475173374]], [[0.22853039973177808]]], "count": [256]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5918721675872802]], [[0.5821068593100005]], [[0.5721121596355064]]], "std": [[[0.2458172181458662]], [[0.2370290593486407]], [[0.22841891381036514]]], "count": [256]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5880783501793356]], [[0.5784187875541986]], [[0.5665117806079341]]], "std": [[[0.23008770329068787]], [[0.22258050064669885]], [[0.2152250064581495]]], "count": [256]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1628]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1628]}, "observation.state": {"min": [3.1681737782718864, -1.7179917673512428, 0.6999845094509292, 0.0, 0.0, 0.5891863107681274, 0.6125534176826477, -0.08564275108657626, -0.19867239888657373, 0.2520773070616955, -0.989423930644989, -0.24462923407554626, -0.6689257025718689, 3.199453203706071e-05, 0.008626635804885896, -0.04013284803987585], "max": [4.330110364376462, -0.8581317543563893, 0.7048557309007212, 0.0, 0.0, 0.7904291749000549, 0.8079971671104431, 0.6337073438976087, 0.11338533914778948, 0.7797514947956328, 0.9980524182319641, 0.24240168929100037, 0.6529344916343689, 0.08961230516433716, 0.040304051942839286, -0.0059964851312500995], "mean": [3.640663634626418, -1.1357180041093409, 0.7026619452464259, 0.0, 0.0, 0.7119573557186478, 0.7001094916235903, 0.22232929494981224, -0.01177238415971672, 0.5362951198298433, -0.23618957868957988, -0.024655809834215066, -0.0879285070278664, 0.04559441812095051, 0.03293129823789859, -0.03252914880923831], "std": [0.4684037901583393, 0.2538934458180408, 0.0017047851351231953, 0.0, 0.0, 0.03930479568554869, 0.03766370684838967, 0.2021085521332234, 0.05830467934271566, 0.11883427234486642, 0.9189882669396086, 0.09061791321538472, 0.28381271921547396, 0.0222620913127363, 0.011128727740506777, 0.011420498665145695], "count": [1628]}, "action": {"min": [-1.0, -1.0, -0.34, 0.0, -1.0, -1.0, -0.6857142857142858, -1.0, -0.2857142857142857, -0.40571428571428575, -0.1457142857142857, -1.0], "max": [1.0, 1.0, 0.2857142857142857, 0.0, 1.0, 1.0, 0.7857142857142857, 1.0, 0.19428571428571428, 0.6171428571428571, 0.26857142857142857, 1.0], "mean": [0.024596349596349605, 0.000719550719550736, -0.00468585468585469, 0.0, -0.3353808353808354, -0.010788873288873282, -0.004971042471042469, -0.010551948051948036, 0.000198315198315198, 0.001695331695331692, 0.002972972972972974, -0.09213759213759214], "std": [0.40361742877734114, 0.34948841376177253, 0.06019286843972209, 0.0, 0.9420826371711005, 0.5188991653320816, 0.1367733718099922, 0.36375651341879406, 0.0327339210222085, 0.09433268367387185, 0.03220267234445094, 0.9957462850119554], "count": [1628]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009828009642660618], "std": [0.09864795207977295], "count": [1628]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006142506142506142], "std": [0.024776466867443128], "count": [1628]}, "timestamp": {"min": [0.0], "max": [81.35], "mean": [40.675], "std": [23.498151523045383], "count": [1628]}, "frame_index": {"min": [0], "max": [1627], "mean": [813.5], "std": [469.96303046090765], "count": [1628]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1628]}, "index": {"min": [93370], "max": [94997], "mean": [94183.5], "std": [469.96303046090765], "count": [1628]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1628]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.469696669750467]], [[0.4458438839993848]], [[0.4391170185627174]]], "std": [[[0.21567167473362028]], [[0.21308114477887694]], [[0.21659131269992954]]], "count": [310]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3562564739345524]], [[0.3500137751830823]], [[0.34861836268734436]]], "std": [[[0.23398271319264272]], [[0.23053804229173452]], [[0.2301639826028553]]], "count": [310]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3966770683158281]], [[0.3892432258311591]], [[0.38762020625018534]]], "std": [[[0.25180370201627905]], [[0.2493897340682174]], [[0.249607289383003]]], "count": [310]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [2101]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2101]}, "observation.state": {"min": [1.9323514994425086, -4.274795256093161, 0.6999986376605956, 0.0, 0.0, -0.10092634707689285, 0.9948939085006714, -0.03223867151907478, -0.1468908555055819, 0.2501352130119251, -0.9892685413360596, -0.5823330283164978, -0.4383336305618286, 6.878290605527582e-06, 0.00814477801505446, -0.040741264545425586], "max": [2.999476012833495, -2.376675729070303, 0.7078009871467438, 0.0, 0.0, 0.03746675327420235, 1.0, 0.6701971792195911, 0.1292154619078696, 0.7883721829708891, 0.9902887344360352, 0.6207091808319092, 0.6264588236808777, 0.35931408405303955, 0.04043177538582024, -0.009845031670314978], "mean": [2.648524232530355, -3.543363713113222, 0.7032673797606939, 0.0, 0.0, -0.006219028784919052, 0.9992402969003574, 0.2006639042042165, -0.049080724019502954, 0.5942951887389868, -0.022509216950201864, 0.11597422359671722, 0.03229411879021574, 0.06234814580069566, 0.03287052963862556, -0.0319564441285792], "std": [0.26679052858209346, 0.7926491269673849, 0.0030011900667646857, 0.0, 0.0, 0.03845414317864162, 0.0012056571810019907, 0.2135115316458653, 0.05443708461226873, 0.14512466103854307, 0.8850833925170181, 0.2583382552853392, 0.3541505938848317, 0.07469405738374642, 0.010346040930906757, 0.01014308915624955], "count": [2101]}, "action": {"min": [-1.0, -1.0, -0.24, 0.0, -1.0, -1.0, -0.9142857142857143, -1.0, -0.16285714285714287, -0.8857142857142857, -0.24285714285714288, -1.0], "max": [1.0, 1.0, 0.29714285714285715, 0.0, 1.0, 0.8928571428571429, 0.5642857142857142, 1.0, 0.28, 0.28285714285714286, 0.23714285714285716, 1.0], "mean": [0.018100224382946898, 0.020313456177330526, -0.001219827293125723, 0.0, -0.3450737743931461, -0.010991364656286107, -0.0035051336098456728, -0.038610865574216356, 0.0003250152988372897, -0.005349833412660632, -0.001203508533351466, -0.13089005235602094], "std": [0.34307652658357435, 0.3932705747802621, 0.04654978805596551, 0.0, 0.9385755644731212, 0.45073145862237407, 0.142069381440018, 0.38073988197266706, 0.038156318252179536, 0.09260777043379698, 0.05350079069895577, 0.991396890349289], "count": [2101]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007615421433001757], "std": [0.08693345636129379], "count": [2101]}, "next.done": {"min": [false], "max": [true], "mean": [0.00047596382674916705], "std": [0.021811402641389054], "count": [2101]}, "timestamp": {"min": [0.0], "max": [105.0], "mean": [52.5], "std": [30.325319454211854], "count": [2101]}, "frame_index": {"min": [0], "max": [2100], "mean": [1050.0], "std": [606.5063890842371], "count": [2101]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [2101]}, "index": {"min": [94998], "max": [97098], "mean": [96048.0], "std": [606.5063890842371], "count": [2101]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [2101]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5735735553169197]], [[0.5450509538479623]], [[0.5041121951231244]]], "std": [[[0.17559596933479366]], [[0.1849510478062397]], [[0.2256508198810699]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5768282440010899]], [[0.5147555828586575]], [[0.45162251532687314]]], "std": [[[0.22587219144265006]], [[0.21878050139472865]], [[0.2520020980960296]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5617209190700054]], [[0.5098021624917909]], [[0.4542980915230271]]], "std": [[[0.23636146822381704]], [[0.22368391037903723]], [[0.23907093970072618]]], "count": [209]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1248]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1248]}, "observation.state": {"min": [0.8128563014111803, -1.745629729459157, 0.699995530576328, 0.0, 0.0, -1.0, 7.566314508267169e-08, -0.07073429733588754, -0.0257721739596104, 0.2579341992877271, -0.998200535774231, -0.21216288208961487, -0.6395055651664734, 1.1607773558353074e-05, 0.012080439374088134, -0.04057546596675966], "max": [1.9603434400847648, -0.6611758599979416, 0.7015163790413999, 0.0, 0.0, 1.0, 0.297118216753006, 0.6338291134758671, 0.3212720635787964, 0.8358043159053214, 0.998235821723938, 0.40742209553718567, 0.4477936625480652, 0.26768532395362854, 0.040330367168347085, -0.01122627780441005], "mean": [1.1656247136021227, -1.0383743944655859, 0.7006002100390115, 0.0, 0.0, 0.809463168375003, 0.10869687636239327, 0.26371170673686806, 0.14890456838608598, 0.5637068693844701, -0.6549827642738819, 0.059151463341923095, -0.233093329679389, 0.07680069231633105, 0.03465730003135415, -0.033376483772560236], "std": [0.27424504551023077, 0.40079597514687204, 0.00047158976469371597, 0.0, 0.0, 0.5710321339240069, 0.08292575899284475, 0.15518566114653243, 0.07909735023099786, 0.1333301604681083, 0.6530970221769393, 0.17431071973508572, 0.21645228558640428, 0.05912948545552283, 0.00811483211315409, 0.009029046019551698], "count": [1248]}, "action": {"min": [-1.0, -1.0, -0.40857142857142864, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4371428571428572, -0.86, -0.27714285714285714, -1.0], "max": [1.0, 1.0, 0.5657142857142857, 0.0, 1.0, 1.0, 0.6785714285714286, 1.0, 0.7085714285714285, 0.6228571428571429, 0.5942857142857143, 1.0], "mean": [0.03578869047619047, 0.015871108058608058, -0.011659798534798527, 0.0, -0.26121794871794873, -0.003290979853479861, 0.013329899267399274, -0.0012419871794871868, 0.002426739926739927, -0.009116300366300376, -0.00045787545787545376, -0.20833333333333334], "std": [0.5032233905204663, 0.39975113260044265, 0.12472441694123133, 0.0, 0.9652798471259875, 0.5439689157396375, 0.17415399870173717, 0.44090434043327387, 0.08412474849321937, 0.13940786913997905, 0.09181487289005494, 0.9780578828587834], "count": [1248]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02163461595773697], "std": [0.14548732340335846], "count": [1248]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008012820512820513], "std": [0.028295582665079446], "count": [1248]}, "timestamp": {"min": [0.0], "max": [62.35], "mean": [31.175], "std": [18.013322615960295], "count": [1248]}, "frame_index": {"min": [0], "max": [1247], "mean": [623.5], "std": [360.26645231920594], "count": [1248]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1248]}, "index": {"min": [97099], "max": [98346], "mean": [97722.5], "std": [360.26645231920594], "count": [1248]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1248]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5984628413018018]], [[0.5786144480985753]], [[0.5527106933184599]]], "std": [[[0.18772187096001292]], [[0.1911226307814087]], [[0.22002363313905837]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5399973334070624]], [[0.5223731819460975]], [[0.5067926590019521]]], "std": [[[0.20399099553871977]], [[0.20310110381996604]], [[0.2113674457665385]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5662680322727967]], [[0.5405988667345695]], [[0.5187842421342285]]], "std": [[[0.18636495470856496]], [[0.18760223776258392]], [[0.2015691606385285]]], "count": [234]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1444]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1444]}, "observation.state": {"min": [0.966729410089005, -2.283234663385954, 0.6999968684204436, 0.0, 0.0, -1.0, 0.0, 0.04314264916797139, -0.14518301822564705, 0.25968711630376407, -0.995780348777771, -0.28535139560699463, -0.517713725566864, 7.45480865589343e-05, 0.015441181695989964, -0.03993992433737901], "max": [3.5207971267203266, -0.77670283804118, 0.7013170328851037, 0.0, 0.0, 1.0, 0.8461642265319824, 0.5878730405560431, 0.09860846384600785, 0.7757772939917784, 0.9957332015037537, 0.3752710819244385, 0.5183596014976501, 0.23352861404418945, 0.0402404170965373, -0.01848093322478673], "mean": [1.90755716017195, -1.5523257724478365, 0.7008084221600479, 0.0, 0.0, 0.27715143037139545, 0.31871019441791926, 0.2219885973254597, 0.016428068237460295, 0.5855790049621115, -0.6746245426566977, 0.07696508122943445, -0.24810429815531237, 0.061794298918435624, 0.03376776591983062, -0.03374224361962289], "std": [0.9339842325130256, 0.5121721323481314, 0.00032422791958615853, 0.0, 0.0, 0.833885013279707, 0.35531211449217837, 0.1550452549603365, 0.046216979529106035, 0.12158104773538024, 0.6440964444876102, 0.11999814432552909, 0.20394110328396406, 0.0522691483251917, 0.008128911143877104, 0.007458659671194217], "count": [1444]}, "action": {"min": [-1.0, -1.0, -0.9971428571428572, 0.0, -1.0, -1.0, -1.0, -1.0, -0.30857142857142855, -0.5257142857142857, -0.2571428571428571, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.8357142857142857, 1.0, 0.2885714285714286, 0.7371428571428571, 0.5314285714285715, 1.0], "mean": [0.14090819153146011, -0.025187969924812027, -0.019024535021764957, 0.0, -0.07756232686980609, -0.001469133359715064, -0.009166007123070833, -0.0029580530273051117, 0.0017787890779580547, -0.006139691333597149, -0.0019865453106450355, -0.1634349030470914], "std": [0.4969490591010864, 0.3910419625770723, 0.3226170499031716, 0.0, 0.9969875051626991, 0.49650055539670573, 0.14681078736983091, 0.41621339454001677, 0.058364721781070016, 0.14162310269857814, 0.056912273592871314, 0.9865541203938001], "count": [1444]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011080332100391388], "std": [0.10467837005853653], "count": [1444]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006925207756232687], "std": [0.026306675780086674], "count": [1444]}, "timestamp": {"min": [0.0], "max": [72.15], "mean": [36.075], "std": [20.84233971990669], "count": [1444]}, "frame_index": {"min": [0], "max": [1443], "mean": [721.5], "std": [416.84679439813374], "count": [1444]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1444]}, "index": {"min": [98347], "max": [99790], "mean": [99068.5], "std": [416.84679439813374], "count": [1444]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1444]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.548702688778148]], [[0.5233458356296316]], [[0.5077981774947222]]], "std": [[[0.2014660441496788]], [[0.19452482522900408]], [[0.1993322117491921]]], "count": [320]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5318911415922876]], [[0.5127148024241129]], [[0.49802367752673576]]], "std": [[[0.23750794130157277]], [[0.23634891923812038]], [[0.23851883592509396]]], "count": [320]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5611488531150071]], [[0.536429941887949]], [[0.518522865445006]]], "std": [[[0.21688101213909142]], [[0.21377893670634868]], [[0.2149883867195329]]], "count": [320]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [2193]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2193]}, "observation.state": {"min": [1.1331735587269995, -3.862582400180431, 0.6999856726593137, 0.0, 0.0, -1.0, 8.425153907865024e-08, -0.01102683319826614, -0.16025051710534477, 0.25724965735895855, -0.9928223490715027, -0.09898141026496887, -0.5253422260284424, 0.00014481569814961404, 0.00961667087375734, -0.04018852603303568], "max": [3.069686530264645, -1.643833920815523, 0.7008272911420954, 0.0, 0.0, 1.0, 0.7352415323257446, 0.5725597168755949, 0.18630106433338645, 0.8003426526191566, 0.9772173762321472, 0.235970139503479, 0.5258479714393616, 0.16574648022651672, 0.0402241663765914, -0.010056061454558493], "mean": [1.9562169465503323, -2.930291417143909, 0.7003489361127413, 0.0, 0.0, -0.6289959369431986, 0.3297561699321115, 0.19274093453148206, -0.016180640881182137, 0.6207799544271574, -0.12101132661525485, 0.025029338784159128, -0.08082258019798486, 0.03352820800694018, 0.03316938407921873, -0.03323475069810831], "std": [0.7114258693800294, 0.8114681834174464, 0.0002599044099533006, 0.0, 0.0, 0.6334793785121661, 0.3071300410798268, 0.16182237901758986, 0.055872946430342144, 0.13408831957349196, 0.9059608688131447, 0.08188192104976996, 0.386089242379153, 0.02321020344984707, 0.010393891554130471, 0.010257843067969757], "count": [2193]}, "action": {"min": [-1.0, -1.0, -0.5542857142857143, 0.0, -1.0, -1.0, -0.8571428571428572, -0.8142857142857143, -0.2714285714285714, -0.4228571428571429, -0.4571428571428572, -1.0], "max": [1.0, 1.0, 0.6228571428571429, 0.0, 1.0, 0.7857142857142857, 0.7642857142857143, 1.0, 0.3742857142857143, 0.4657142857142857, 0.18571428571428572, 1.0], "mean": [0.024812715783988047, -0.04129046967624259, 0.008921894339131004, 0.0, -0.051527587779297765, 0.004393850563481222, -9.445638720605181e-05, 0.008139534883720925, -0.0007843137254901969, -0.00021627255553384155, 0.00023320956289492385, -0.007751937984496124], "std": [0.3871766354067614, 0.4105974448183724, 0.18714824501921815, 0.0, 0.9986715714876654, 0.39465834995245086, 0.12274285356987068, 0.3071737717733041, 0.039023353698388955, 0.07384311745312822, 0.04420369092438277, 0.999969953277337], "count": [2193]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0072959414683282375], "std": [0.08510411530733109], "count": [2193]}, "next.done": {"min": [false], "max": [true], "mean": [0.00045599635202918376], "std": [0.02134920184353785], "count": [2193]}, "timestamp": {"min": [0.0], "max": [109.6], "mean": [54.8], "std": [31.653225217450853], "count": [2193]}, "frame_index": {"min": [0], "max": [2192], "mean": [1096.0], "std": [633.064504349017], "count": [2193]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [2193]}, "index": {"min": [99791], "max": [101983], "mean": [100887.0], "std": [633.064504349017], "count": [2193]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [2193]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5851858323105016]], [[0.5543842869604817]], [[0.5159513328040638]]], "std": [[[0.23180396767633585]], [[0.23581618674221166]], [[0.2548521514758246]]], "count": [281]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46101654502054656]], [[0.44719328975803924]], [[0.4288011071371039]]], "std": [[[0.21651822080879263]], [[0.21502662689385524]], [[0.22431954670341192]]], "count": [281]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47802971684253104]], [[0.4662962525615089]], [[0.44984638463526677]]], "std": [[[0.21658181246974717]], [[0.21135693828612395]], [[0.2159256806506418]]], "count": [281]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1845]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1845]}, "observation.state": {"min": [1.9602871584500003, -2.075148122898652, 0.6999987292248641, 0.0, 0.0, 0.22307834029197693, 0.704494059085846, -0.08900867507847643, -0.3728032197133868, 0.2572330447693383, -0.9885989427566528, -0.42838650941848755, -0.38890478014945984, 0.00029568030731752515, 0.008007791895056715, -0.040399757096805565], "max": [3.3210538291319804, -1.0046379271933699, 0.7031476795863604, 0.0, 0.0, 0.7097099423408508, 0.9748005270957947, 0.7123145331528742, 0.06326944731165929, 0.7549856309255035, 0.9852027297019958, 0.17340174317359924, 0.462532103061676, 0.20880939066410065, 0.04007640048716847, -0.009800155208978705], "mean": [2.622467288079507, -1.41727675146015, 0.7017194098565832, 0.0, 0.0, 0.5550881166929799, 0.8165828417310224, 0.2273807130553226, -0.053689727088698, 0.514337378814021, 0.7959619483327478, -0.04327161526938441, 0.22529324324634986, 0.04304527811687768, 0.02801707161662883, -0.028615962303291338], "std": [0.48621852645292163, 0.37741231101575673, 0.001010639875591376, 0.0, 0.0, 0.13654262233710773, 0.08016079224327428, 0.2120407778913609, 0.08070619496505822, 0.11347260365948465, 0.5094548638834601, 0.15545438500407097, 0.16498916175640307, 0.032100720006254795, 0.012026136682895745, 0.01134464143525224], "count": [1845]}, "action": {"min": [-1.0, -1.0, -0.6142857142857143, 0.0, -1.0, -1.0, -0.8, -1.0, -0.2057142857142857, -0.5542857142857143, -0.31142857142857144, -1.0], "max": [1.0, 1.0, 0.5457142857142857, 0.0, 1.0, 0.9642857142857144, 1.0, 1.0, 0.3514285714285714, 0.40571428571428575, 0.5457142857142857, 1.0], "mean": [0.01523809523809524, -0.04045296167247387, -0.0058273325590398805, 0.0, -0.24878048780487805, 0.013310104529616718, 0.002168021680216797, -0.0039643825009678555, 0.001842818428184285, 0.0011614401858304286, -0.004151761517615174, -0.023306233062330622], "std": [0.4412179522016925, 0.3066410012131686, 0.13978754193120493, 0.0, 0.9685598943212205, 0.4676859492536062, 0.22660570891330722, 0.343228427905998, 0.040843734882652964, 0.07886168530266853, 0.09136387554664578, 0.9997283728595483], "count": [1845]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008672086521983147], "std": [0.09271936863660812], "count": [1845]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005420054200542005], "std": [0.023274699787082805], "count": [1845]}, "timestamp": {"min": [0.0], "max": [92.2], "mean": [46.1], "std": [26.630277254784012], "count": [1845]}, "frame_index": {"min": [0], "max": [1844], "mean": [922.0], "std": [532.6055450956802], "count": [1845]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [1845]}, "index": {"min": [101984], "max": [103828], "mean": [102906.0], "std": [532.6055450956802], "count": [1845]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1845]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5631199760233018]], [[0.5399750961693567]], [[0.5314893030086162]]], "std": [[[0.2120128432319881]], [[0.21902864925912477]], [[0.20523457651063254]]], "count": [264]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.530483794594831]], [[0.5266685560637829]], [[0.5189838495554843]]], "std": [[[0.23337509078473445]], [[0.2161031194783558]], [[0.20305752915239325]]], "count": [264]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5611658641432129]], [[0.5568476989165843]], [[0.5473879981310114]]], "std": [[[0.2271786014113102]], [[0.20504260118742687]], [[0.18943244467268586]]], "count": [264]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1699]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1699]}, "observation.state": {"min": [0.9726921548712756, -2.001242161535478, 0.6999207522887541, 0.0, 0.0, -0.9999868869781494, 0.000559804611839354, 0.024744115117961485, -0.28648644835719894, 0.2567159911282213, -0.9952267408370972, -0.1781042516231537, -0.4806288182735443, 1.4974206351325847e-05, 0.02057055677176722, -0.040745380910832095], "max": [3.276278360002369, -0.7995114412992852, 0.7023275041640284, 0.0, 0.0, 0.9999998807907104, 0.9927576780319214, 0.6204226493159037, 0.15337671273271036, 0.8066546012513885, 0.9955054521560669, 0.15135455131530762, 0.6324926018714905, 0.2503811717033386, 0.04016773991687471, -0.020496003871668677], "mean": [1.8546154886701485, -1.2481599707604576, 0.7011753378350872, 0.0, 0.0, 0.5816286363413644, 0.715368728366436, 0.23274441225480857, -0.05216338423489619, 0.5653760900773537, -0.21549691309853117, 0.011498695597920858, -0.068490414408251, 0.039370446916935344, 0.034579542547616866, -0.03594820795534179], "std": [0.7853332396745202, 0.3288281994672742, 0.0008172098490949153, 0.0, 0.0, 0.32083792800102884, 0.21683803242093735, 0.1426706886285284, 0.08824294947671822, 0.11821226383635826, 0.9123171828746118, 0.07222760104246825, 0.3274511003038186, 0.04923615709440816, 0.006658175499677986, 0.005168169730598577], "count": [1699]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3628571428571429, -0.6942857142857143, -0.37714285714285717, -1.0], "max": [1.0, 1.0, 0.96, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3514285714285714, 0.5142857142857142, 0.4942857142857143, 1.0], "mean": [0.23370890439754477, -0.014260489363491153, -0.004720423778693352, 0.0, 0.11124190700412007, 0.008046750189186904, 0.007332044059530809, 0.000937526275960636, -0.0011082149163373393, -0.005737828975027325, 0.0002640208526023724, -0.24896998234255444], "std": [0.5912600492199024, 0.3331102674268585, 0.3468038310584726, 0.0, 0.993793357859707, 0.47394060603228194, 0.1859009378471763, 0.4012097824966214, 0.05676903666562821, 0.10745105782323484, 0.0629359974128733, 0.968511201738204], "count": [1699]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009417303837835789], "std": [0.09658478200435638], "count": [1699]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005885815185403178], "std": [0.024253558302573884], "count": [1699]}, "timestamp": {"min": [0.0], "max": [84.9], "mean": [42.45], "std": [24.52294843610776], "count": [1699]}, "frame_index": {"min": [0], "max": [1698], "mean": [849.0], "std": [490.4589687221552], "count": [1699]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [1699]}, "index": {"min": [103829], "max": [105527], "mean": [104678.0], "std": [490.4589687221552], "count": [1699]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1699]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5817955300273361]], [[0.5792527445197044]], [[0.5704851174111322]]], "std": [[[0.24118470535826578]], [[0.23159058980218375]], [[0.23929363684792815]]], "count": [271]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5354699433673593]], [[0.5400263829442062]], [[0.5390040310494729]]], "std": [[[0.2584516984009925]], [[0.24636980591712365]], [[0.24354099334284368]]], "count": [271]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5446817492879805]], [[0.5605229698950108]], [[0.5627271657327815]]], "std": [[[0.2821295727475495]], [[0.25781583370909533]], [[0.25325203592530127]]], "count": [271]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1758]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1758]}, "observation.state": {"min": [1.833439659466848, -1.7352687368740585, 0.6999967127468282, 0.0, 0.0, 0.6687919497489929, 0.684553861618042, -0.01961021151105924, -0.2273433617806333, 0.24848388790879228, -0.9919781684875488, -0.1404421627521515, -0.5189528465270996, 1.9159506337018684e-05, 0.017346327243791277, -0.040440070104862204], "max": [3.6542660174462767, -0.8539752306392541, 0.7041750669520755, 0.0, 0.0, 0.7289623022079468, 0.7434496879577637, 0.7247363993701754, 0.130984564669677, 0.805565937064907, 0.9810377955436707, 0.14268270134925842, 0.5197412371635437, 0.07534554600715637, 0.04000535368518499, -0.01610621671060047], "mean": [3.09164394039094, -1.144051462578207, 0.7018134210137612, 0.0, 0.0, 0.6971564536005157, 0.7165353913559441, 0.2866782854026991, -0.020820047784486408, 0.5720052896561406, -0.31385834370999344, -0.007987700716356098, -0.10339483719603058, 0.024118197908041292, 0.03311844742275337, -0.03211892898137249], "std": [0.6250037799704078, 0.2266332406947225, 0.0010472449804853176, 0.0, 0.0, 0.016728873136598953, 0.01643329470646375, 0.21743224948587617, 0.06648071200208651, 0.13976700054887203, 0.8796997439094837, 0.06159622233365277, 0.3349003929815046, 0.0182469363117413, 0.00843938215915748, 0.009108403122054834], "count": [1758]}, "action": {"min": [-1.0, -1.0, -0.13142857142857142, 0.0, -1.0, -1.0, -1.0, -1.0, -0.09428571428571429, -0.4828571428571429, -0.1742857142857143, -1.0], "max": [1.0, 1.0, 0.23428571428571432, 0.0, 1.0, 0.9285714285714287, 0.6785714285714286, 1.0, 0.14, 0.30285714285714294, 0.23714285714285716, 1.0], "mean": [0.02257029091500081, 0.02432959531935642, 0.0006630911750365662, 0.0, -0.3424345847554039, 0.0003169185763042034, -0.012802697870957268, -0.02352917276125473, -0.00010563952543474836, -0.001568340646838935, 0.00032992036405005604, -0.06825938566552901], "std": [0.3532477371843619, 0.362366800820403, 0.02873456680515997, 0.0, 0.9395416729253661, 0.5166826529426074, 0.1537589440478409, 0.35917223518784214, 0.015012643816463004, 0.07127209556459656, 0.031481240618322553, 0.9976676081083159], "count": [1758]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009101251140236855], "std": [0.09496535360813141], "count": [1758]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005688282138794084], "std": [0.02384333551209862], "count": [1758]}, "timestamp": {"min": [0.0], "max": [87.85], "mean": [43.925], "std": [25.37454022571969], "count": [1758]}, "frame_index": {"min": [0], "max": [1757], "mean": [878.5], "std": [507.4908045143938], "count": [1758]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [1758]}, "index": {"min": [105528], "max": [107285], "mean": [106406.5], "std": [507.4908045143938], "count": [1758]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1758]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5372992618052842]], [[0.5259290349738409]], [[0.5152771244204141]]], "std": [[[0.19500904489181656]], [[0.20224247862152958]], [[0.2110235582741228]]], "count": [287]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5227466833186686]], [[0.5123118034728182]], [[0.5067306700988798]]], "std": [[[0.24342161515074812]], [[0.2400830797272473]], [[0.23692349888039455]]], "count": [287]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5112402595196329]], [[0.5036347655249219]], [[0.49896548287402803]]], "std": [[[0.24374964154827844]], [[0.24167478009550256]], [[0.24102161063227098]]], "count": [287]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1900]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1900]}, "observation.state": {"min": [1.6551495068736752, -2.2223306892029333, 0.6999933102696551, 0.0, 0.0, -0.058233536779880524, 0.6641695499420166, -0.01810556359608978, -0.26591929410492066, 0.24771495600835525, -0.9880591034889221, -0.279976487159729, -0.482194721698761, 9.391386993229389e-05, 0.01000479576275578, -0.04037996832939102], "max": [3.309986243220297, -0.97436215329829, 0.7024648657087359, 0.0, 0.0, 0.7475820183753967, 0.9999960660934448, 0.6122970761130181, 0.06729220118339763, 0.7655402094077479, 0.9971092343330383, 0.2871117889881134, 0.6136619448661804, 0.2374669462442398, 0.04012514385085254, -0.008002653678319888], "mean": [2.5748094221615654, -1.589994478055197, 0.7010615519314123, 0.0, 0.0, 0.45094899808559075, 0.8454446081738723, 0.23026332771016653, -0.0840916781425288, 0.6086291774151976, 0.42318335599020906, -0.006456006467342377, 0.18599236630687588, 0.052344428527522774, 0.028358647496398635, -0.030357581454289437], "std": [0.5165427698358556, 0.45790661892718554, 0.0007545075223732356, 0.0, 0.0, 0.26034412124744444, 0.11869859011991894, 0.17056977029114911, 0.06986788966261717, 0.13359042382087136, 0.8016770493028884, 0.06497635126325763, 0.3666397455201146, 0.04699307275739268, 0.010893873042785766, 0.010488797566821561], "count": [1900]}, "action": {"min": [-1.0, -1.0, -0.8028571428571428, 0.0, -1.0, -1.0, -0.75, -1.0, -0.3171428571428571, -0.5942857142857143, -0.5228571428571429, -1.0], "max": [1.0, 1.0, 0.7, 0.0, 1.0, 0.9357142857142857, 0.9714285714285714, 1.0, 0.18, 0.4885714285714286, 0.2714285714285714, 1.0], "mean": [-0.031075187969924818, -0.02652255639097743, -0.018920300751879712, 0.0, -0.13263157894736843, -0.005729323308270668, -0.010875939849624061, -0.015627819548872178, 0.0008676691729323312, -0.0043067669172932345, -0.004523308270676696, 0.06842105263157895], "std": [0.47560167528136105, 0.3037954799487479, 0.20841572797503174, 0.0, 0.9911654071172531, 0.42251852143473945, 0.1521558315307011, 0.317529818858158, 0.03279738103626419, 0.10393278206269362, 0.044651165473024515, 0.9976565338616116], "count": [1900]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01315789483487606], "std": [0.113950714468956], "count": [1900]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005263157894736842], "std": [0.022935535336316763], "count": [1900]}, "timestamp": {"min": [0.0], "max": [94.95], "mean": [47.475], "std": [27.424133988149926], "count": [1900]}, "frame_index": {"min": [0], "max": [1899], "mean": [949.5], "std": [548.4826797629985], "count": [1900]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [1900]}, "index": {"min": [107286], "max": [109185], "mean": [108235.5], "std": [548.4826797629985], "count": [1900]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1900]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5662650245073125]], [[0.5434501100172149]], [[0.5177697811297716]]], "std": [[[0.2051658501034426]], [[0.2123737459673755]], [[0.23452905215514505]]], "count": [269]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5631751734432373]], [[0.5541058001256526]], [[0.5434895690966908]]], "std": [[[0.2205046627364839]], [[0.21997958463397968]], [[0.22281477867087962]]], "count": [269]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5733268496993505]], [[0.5614199464510042]], [[0.5497995284966333]]], "std": [[[0.20926099274820348]], [[0.20938171385962534]], [[0.21303714859721787]]], "count": [269]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1741]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1741]}, "observation.state": {"min": [4.285367267366088, -4.411486800754316, 0.6999864063583018, 0.0, 0.0, -0.3496127128601074, 0.9368943572044373, -0.022615779285865223, -0.3485925912987953, 0.24206287060266873, -0.9924258589744568, -0.36823228001594543, -0.548263669013977, 0.00013086585386190563, 0.008340443625626059, -0.040999501128101544], "max": [4.9189664049313535, -0.8708453026467309, 0.7037592478739391, 0.0, 0.0, 0.009448417462408543, 1.0, 0.5664923481282909, 0.19922796544294208, 0.7885632501297948, 0.9900889992713928, 0.4565715193748474, 0.4126512408256531, 0.12227688729763031, 0.040225856100067924, -0.01065778392366455], "mean": [4.629424374984272, -3.134462504880566, 0.7018633202876869, 0.0, 0.0, -0.03135441297376444, 0.9975481522898096, 0.17422539033102963, -0.052454078574882226, 0.5053725276529594, -0.23302770715414417, 0.049223396745240254, -0.07137980036938212, 0.043161671369311205, 0.029946002081330737, -0.029164691772608352], "std": [0.19468666644203417, 1.226320417975778, 0.0012986820420430021, 0.0, 0.0, 0.06194707638734404, 0.008784990299492841, 0.16392043603792297, 0.10190974371125612, 0.1246564213344721, 0.9150353739898712, 0.1388325206413291, 0.28048780175090543, 0.03285608471727338, 0.011585093127050793, 0.012033705833632582], "count": [1741]}, "action": {"min": [-1.0, -1.0, -0.6114285714285714, 0.0, -1.0, -1.0, -1.0, -0.7857142857142857, -0.12571428571428572, -0.4314285714285714, -0.3942857142857143, -1.0], "max": [1.0, 1.0, 0.4314285714285714, 0.0, 1.0, 0.7357142857142858, 0.7285714285714285, 0.9714285714285714, 0.18285714285714286, 0.31142857142857144, 0.20285714285714287, 1.0], "mean": [0.04865430376630834, 0.03306392057110034, 0.003955034052679082, 0.0, -0.1878230901780586, -0.003774513826208233, -0.015007795191597595, -0.01987773857389021, 0.0012012800525149738, -0.002794781324362025, -0.002735701977517027, -0.037334865020103386], "std": [0.30775780432480876, 0.5115954423563139, 0.09971500324966354, 0.0, 0.9822028745610376, 0.4236172532892411, 0.15695758488985545, 0.31060149574397006, 0.028449747623198546, 0.07211031580475294, 0.05696340307311617, 0.9993028108906258], "count": [1741]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009190120734274387], "std": [0.09542358666658401], "count": [1741]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005743825387708214], "std": [0.023959395306851476], "count": [1741]}, "timestamp": {"min": [0.0], "max": [87.0], "mean": [43.5], "std": [25.129166321229203], "count": [1741]}, "frame_index": {"min": [0], "max": [1740], "mean": [870.0], "std": [502.5833264245841], "count": [1741]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [1741]}, "index": {"min": [109186], "max": [110926], "mean": [110056.0], "std": [502.5833264245841], "count": [1741]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1741]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.51655136517819]], [[0.46708581174490255]], [[0.43507768278643566]]], "std": [[[0.18484105950137825]], [[0.18138387397279032]], [[0.19333802529979513]]], "count": [304]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5042717023284565]], [[0.46385090004179874]], [[0.43297131797231514]]], "std": [[[0.23543317492735774]], [[0.22123288206052796]], [[0.2192198370495173]]], "count": [304]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5130934604058202]], [[0.4645163757513182]], [[0.43066914640097914]]], "std": [[[0.22504847201565223]], [[0.20537177018269784]], [[0.2040476057364089]]], "count": [304]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [2048]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2048]}, "observation.state": {"min": [1.1307252075689316, -3.9041505673541805, 0.699996310061817, 0.0, 0.0, -1.0, 7.559646775234796e-08, -0.11620580569535766, -0.0803301991153682, 0.24789192581983832, -0.9919804334640503, -0.33092406392097473, -0.5250422358512878, 4.503142190515064e-05, 0.020554305264125494, -0.04048633515636383], "max": [3.109332192170163, -1.6162138758061562, 0.7059444412153613, 0.0, 0.0, 1.0, 0.7750195264816284, 0.6861912460873072, 0.13591727451251057, 0.8127869980618627, 0.9964807033538818, 0.3334027826786041, 0.5660726428031921, 0.1248389333486557, 0.04017896268997376, -0.012689220762817357], "mean": [1.9160418400353425, -3.038659375763417, 0.7026338217945863, 0.0, 0.0, -0.21938142899307422, 0.33672999943157744, 0.2024719106135618, -0.02129816179167827, 0.5776353252857599, 0.515045457839733, 0.06772096318309195, 0.17093261742775212, 0.03248283625205595, 0.034475608459310456, -0.03449731166009571], "std": [0.7004723171461129, 0.829848748978491, 0.002100971707676629, 0.0, 0.0, 0.8597835705531894, 0.3150506558236736, 0.19412412192036313, 0.0382305472032404, 0.13812431391073185, 0.7844418846175513, 0.15346460636862963, 0.24489536053484817, 0.031539798878172876, 0.005752222156027842, 0.006889211760136457], "count": [2048]}, "action": {"min": [-1.0, -1.0, -0.5457142857142857, 0.0, -1.0, -1.0, -0.6500000000000001, -1.0, -0.24285714285714288, -0.5285714285714286, -0.17142857142857143, -1.0], "max": [1.0, 1.0, 0.8657142857142858, 0.0, 1.0, 1.0, 0.5071428571428571, 1.0, 0.30857142857142855, 0.42, 0.2542857142857143, 1.0], "mean": [0.027643694196428543, -0.04207938058035716, 0.006777343749999993, 0.0, -0.0830078125, -0.0035784040178571406, -0.003916713169642857, -0.0379045758928572, -0.0015150669642857132, -0.0032087053571428566, 0.0028669084821428595, -0.09765625], "std": [0.4702642275968609, 0.40302934758017633, 0.2222722844638426, 0.0, 0.9965488964742095, 0.43543128794359787, 0.10371339157967793, 0.35986398596004743, 0.032235736533369516, 0.09759245093929879, 0.03329165911489523, 0.995220205198798], "count": [2048]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0078125], "std": [0.08804240077733994], "count": [2048]}, "next.done": {"min": [false], "max": [true], "mean": [0.00048828125], "std": [0.02209169145676488], "count": [2048]}, "timestamp": {"min": [0.0], "max": [102.35], "mean": [51.175], "std": [29.56033025864224], "count": [2048]}, "frame_index": {"min": [0], "max": [2047], "mean": [1023.5], "std": [591.2066051728448], "count": [2048]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [2048]}, "index": {"min": [110927], "max": [112974], "mean": [111950.5], "std": [591.2066051728448], "count": [2048]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [2048]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44754241862222577]], [[0.4325629729058268]], [[0.41258525880082736]]], "std": [[[0.20806578873673867]], [[0.2149201616887746]], [[0.22901315871478617]]], "count": [236]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38550953128164334]], [[0.3678397272781265]], [[0.3577247317901439]]], "std": [[[0.22385903337008364]], [[0.2215809181972328]], [[0.2217226648140177]]], "count": [236]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3869095036261658]], [[0.3726006639403891]], [[0.364791319654724]]], "std": [[[0.24818998289040614]], [[0.2465594458904588]], [[0.2469018866460559]]], "count": [236]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1461]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1461]}, "observation.state": {"min": [0.7924818938487694, -1.9011187861661, 0.699997429759955, 0.0, 0.0, -1.0, 0.0, -0.06115652463130439, -0.17760056302724747, 0.25375310220807257, -0.9895591139793396, -0.1300981640815735, -0.4796554744243622, 0.00015944689221214503, 0.012054952861062684, -0.040085359603094305], "max": [1.8102546687817094, -0.7766895284777308, 0.7023630984695811, 0.0, 0.0, 1.0, 0.09192779660224915, 0.6252113795593528, 0.0926735593958894, 0.7676985928428146, 0.987189531326294, 0.2869485020637512, 0.4703986942768097, 0.35438233613967896, 0.04000569489195672, -0.01239056310777334], "mean": [1.0944631540706327, -1.253157218773256, 0.700936132600237, 0.0, 0.0, 0.8227790120445972, 0.02630012591539015, 0.19739855558048955, -0.02450505499353254, 0.5600236869367434, -0.16765459460154697, 0.02313149708701192, -0.07712080487235616, 0.0550396526534456, 0.029949502564272767, -0.03063449273365096], "std": [0.2697968922530382, 0.4431774612992003, 0.0008038810835467341, 0.0, 0.0, 0.5672420848010504, 0.024071315932951483, 0.1905159889675755, 0.058881412673634476, 0.1375662890775099, 0.9281168945216344, 0.112803477760817, 0.2916861616737576, 0.05633365059635693, 0.009741937882096173, 0.009485692507471609], "count": [1461]}, "action": {"min": [-1.0, -1.0, -0.18285714285714286, 0.0, -1.0, -1.0, -0.9214285714285714, -0.8714285714285716, -0.23714285714285716, -0.7085714285714285, -0.3485714285714286, -1.0], "max": [1.0, 1.0, 0.2142857142857143, 0.0, 1.0, 1.0, 0.9142857142857143, 1.0, 0.3314285714285714, 0.29714285714285715, 0.17142857142857143, 1.0], "mean": [0.02307617092011343, 0.023076170920113444, -0.002000586682311527, 0.0, -0.3004791238877481, 0.009074019751637819, 0.007089077930967046, -0.0060966070206316635, -0.0037841009093575835, -0.005857045076757602, 0.0017639581499951109, 0.0006844626967830253], "std": [0.42674136116122213, 0.36412886121021437, 0.03649315486997035, 0.0, 0.9537883916821619, 0.5554096429154832, 0.17377622678539195, 0.36130664878959096, 0.045443869801565825, 0.08055727040931898, 0.03842832177241273, 0.9999997657553735], "count": [1461]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01095140352845192], "std": [0.10407434403896332], "count": [1461]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006844626967830253], "std": [0.02615328292202984], "count": [1461]}, "timestamp": {"min": [0.0], "max": [73.0], "mean": [36.5], "std": [21.087713642466472], "count": [1461]}, "frame_index": {"min": [0], "max": [1460], "mean": [730.0], "std": [421.7542728493295], "count": [1461]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [1461]}, "index": {"min": [112975], "max": [114435], "mean": [113705.0], "std": [421.7542728493295], "count": [1461]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1461]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5592078763856395]], [[0.5294178501611937]], [[0.49741724155038436]]], "std": [[[0.18768120490223977]], [[0.20977160331476374]], [[0.23485517223622215]]], "count": [275]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4856068441625585]], [[0.43662447777406416]], [[0.41768664006795897]]], "std": [[[0.22116728246849207]], [[0.2579051810692713]], [[0.2769431696766439]]], "count": [275]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49006296782740083]], [[0.43700056291604]], [[0.41502724039278355]]], "std": [[[0.22819147770113749]], [[0.2644635105212036]], [[0.28462640271942646]]], "count": [275]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1793]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1793]}, "observation.state": {"min": [0.8494217755229255, -1.9103769943907516, 0.6999973234314546, 0.0, 0.0, -1.0, 7.664060319712007e-08, 0.010835491457001245, -0.18802434445952676, 0.25955247187845176, -0.9920269250869751, -0.3638345003128052, -0.5065463781356812, 5.814716132590547e-05, 0.013426265413602673, -0.04053763639387695], "max": [1.6565621964488582, -0.7043316376362414, 0.7038208029005835, 0.0, 0.0, 1.0, 0.09986882656812668, 0.6608227964885759, 0.24089629277069768, 0.7513593951008183, 0.9831430315971375, 0.34142863750457764, 0.49042004346847534, 0.2323184311389923, 0.04025141527062277, -0.010760615817249145], "mean": [1.0920270684768707, -1.1932868028363548, 0.7023435818179734, 0.0, 0.0, 0.5963423447906805, 0.05198026454014259, 0.2681929606634975, 0.02917545404010065, 0.5380169016033295, -0.2743035202510385, 0.005274681250808363, -0.10223568675907643, 0.04765910683456146, 0.032287445536313866, -0.03223927210653333], "std": [0.2096646111139774, 0.47285579297198616, 0.0011445410089160207, 0.0, 0.0, 0.8001055605505144, 0.03879393690042084, 0.19547639452785873, 0.09091938691782878, 0.13896727192300223, 0.8914976501010932, 0.12263514602682823, 0.3159135816696742, 0.048963280912888756, 0.009424451241145841, 0.01051566518233699], "count": [1793]}, "action": {"min": [-1.0, -1.0, -0.14285714285714285, 0.0, -1.0, -1.0, -0.9142857142857143, -1.0, -0.17142857142857143, -0.42, -0.16, -1.0], "max": [1.0, 1.0, 0.3457142857142857, 0.0, 1.0, 0.8, 0.7071428571428572, 1.0, 0.17714285714285713, 0.5085714285714286, 0.5085714285714286, 1.0], "mean": [0.023531989482909736, 0.023559875707114982, -0.003300135447374713, 0.0, -0.437813720022309, -0.003023663453111316, -0.009102860329854188, -0.015297585849733078, -0.0013018882957533263, -0.0014500836586726154, 0.0022452394231535357, -0.0373675404350251], "std": [0.3564357000013712, 0.31826488478454024, 0.038440222598389646, 0.0, 0.8990657075877244, 0.47577286069071356, 0.17001406597447474, 0.35051616567085414, 0.029436565299498785, 0.07863403965851477, 0.054884368334428585, 0.9993015895723419], "count": [1793]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008923592045903206], "std": [0.0940423384308815], "count": [1793]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005577244841048522], "std": [0.023609604560531763], "count": [1793]}, "timestamp": {"min": [0.0], "max": [89.6], "mean": [44.8], "std": [25.8797217913949], "count": [1793]}, "frame_index": {"min": [0], "max": [1792], "mean": [896.0], "std": [517.594435827898], "count": [1793]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [1793]}, "index": {"min": [114436], "max": [116228], "mean": [115332.0], "std": [517.594435827898], "count": [1793]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1793]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5510291606498136]], [[0.5295133682261294]], [[0.48284333410256614]]], "std": [[[0.19324421595547106]], [[0.17378667190594468]], [[0.1894611053964754]]], "count": [290]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5709645259049876]], [[0.5501678483304017]], [[0.5004083020853142]]], "std": [[[0.20345723936410956]], [[0.18130817267123722]], [[0.18021258198972231]]], "count": [290]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5472859601477984]], [[0.5235233928481818]], [[0.47658142254915165]]], "std": [[[0.22104235207101952]], [[0.19432015505630895]], [[0.18438526974495817]]], "count": [290]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1921]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1921]}, "observation.state": {"min": [1.3731899047193885, -2.298101380653888, 0.6999977382711466, 0.0, 0.0, 0.5670484900474548, 0.5301296710968018, -0.002202092416886403, -0.1952949729371718, 0.23610611902179435, -0.9900246858596802, -0.21730268001556396, -0.5419451594352722, 3.5871971704182215e-06, -0.00031157161764317723, -0.04026295095160193], "max": [2.6152014481267183, -0.8914790384962241, 0.7083970086470267, 0.0, 0.0, 0.8479165434837341, 0.8236843943595886, 0.6958117108762253, 0.10095071234751551, 0.7380880124047597, 0.9971891045570374, 0.12669163942337036, 0.5030377507209778, 0.10580328851938248, 0.04008369094218512, -0.008472585904018172], "mean": [1.9237631785811347, -1.3447582519707086, 0.7034797123816028, 0.0, 0.0, 0.6884866858881504, 0.7222552656941212, 0.21013006662839123, -0.00038701506941348526, 0.5627044152114453, 0.35145691240410953, -0.017637404766882043, 0.1275856539486815, 0.027959956844535498, 0.03098900376621959, -0.031013833320900276], "std": [0.5001741389024456, 0.4223735948624117, 0.002495479958448659, 0.0, 0.0, 0.04804128246010743, 0.045004985260131344, 0.15393898232422276, 0.044750063807008675, 0.12908575123850402, 0.8580327769638102, 0.07998492575528321, 0.3401296459597321, 0.028303563629825272, 0.011398774912150472, 0.011376876973423999], "count": [1921]}, "action": {"min": [-1.0, -1.0, -0.52, 0.0, -1.0, -1.0, -0.8500000000000001, -0.9142857142857143, -0.2714285714285714, -0.38, -0.16857142857142857, -1.0], "max": [1.0, 1.0, 0.36857142857142855, 0.0, 1.0, 0.7357142857142858, 0.8428571428571429, 1.0, 0.18857142857142858, 0.3742857142857143, 0.36, 1.0], "mean": [0.027206811928311148, -0.014430728043429765, -0.0009251134081951354, 0.0, -0.1566892243623113, -0.006060831412210906, -0.0070424630029002734, -0.0420056518182494, 0.0009161894846434149, -0.005941845764854614, -0.0010292258496318856, -0.029672045809474232], "std": [0.47339003258223106, 0.32705913464520264, 0.0780614438937115, 0.0, 0.9876479570012504, 0.37706342213500255, 0.12799946114707156, 0.3119053405153425, 0.028857235597110523, 0.07898389042424322, 0.034514907914671135, 0.9995596879113864], "count": [1921]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008328995667397976], "std": [0.09088247269392014], "count": [1921]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005205622071837585], "std": [0.022809893076737787], "count": [1921]}, "timestamp": {"min": [0.0], "max": [96.0], "mean": [48.0], "std": [27.72724292099739], "count": [1921]}, "frame_index": {"min": [0], "max": [1920], "mean": [960.0], "std": [554.5448584199479], "count": [1921]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [1921]}, "index": {"min": [116229], "max": [118149], "mean": [117189.0], "std": [554.5448584199479], "count": [1921]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1921]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.507534987745098]], [[0.4763347869274663]], [[0.4568320147346048]]], "std": [[[0.2171534999359165]], [[0.23587327893998766]], [[0.24167235777253868]]], "count": [250]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5074783246208641]], [[0.4566967198988971]], [[0.42393488673789825]]], "std": [[[0.24083308965505135]], [[0.2342662481851549]], [[0.22578105461208162]]], "count": [250]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49507098963120405]], [[0.4469323014801624]], [[0.42620396632774205]]], "std": [[[0.2623955600013978]], [[0.25794352176949153]], [[0.2499293028212917]]], "count": [250]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1581]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1581]}, "observation.state": {"min": [1.9302379423808496, -1.7768786874761575, 0.699997651436895, 0.0, 0.0, 0.6115571856498718, 0.6983541250228882, -0.08896803768726125, -0.25649650227664855, 0.23344461134846883, -0.991089403629303, -0.29473575949668884, -0.5247302055358887, 1.3365895938477479e-05, 0.010737176801185728, -0.04008668302830125], "max": [3.6251372993747606, -0.8174975875424401, 0.7018499550572559, 0.0, 0.0, 0.715752363204956, 0.7912002205848694, 0.5778461157782857, 0.07175569494249734, 0.7845628280982495, 0.977319598197937, 0.2676033079624176, 0.4512350559234619, 0.1295202672481537, 0.04051242683664858, -0.010564550620377075], "mean": [3.056156765147259, -1.084279901506901, 0.7007304700049819, 0.0, 0.0, 0.6797175824378278, 0.7325688338521008, 0.2024262150679202, -0.03890040052928792, 0.5367718947632342, -0.3979907529705465, -0.05857369549699707, -0.12643754904987237, 0.03265562425149555, 0.03453612135300919, -0.0316871584794424], "std": [0.6244980474327402, 0.23525074669092386, 0.00043736452337976865, 0.0, 0.0, 0.027283834734707902, 0.024135038875596336, 0.19282218407962698, 0.06342667993378022, 0.1368292546355437, 0.8532019469390546, 0.14038639559898483, 0.27002844613221133, 0.023288940095792417, 0.008910957937536566, 0.010656418208602862], "count": [1581]}, "action": {"min": [-1.0, -1.0, -0.28285714285714286, 0.0, -1.0, -1.0, -0.8428571428571429, -1.0, -0.18857142857142858, -0.37714285714285717, -0.24285714285714288, -1.0], "max": [1.0, 1.0, 0.18285714285714286, 0.0, 1.0, 1.0, 0.9714285714285714, 1.0, 0.23142857142857146, 0.28285714285714286, 0.5714285714285714, 1.0], "mean": [0.024274871238818097, 0.02590132827324479, -0.00037950664136622445, 0.0, -0.36369386464263126, -0.00018975332068313524, -0.016106442577030818, -0.00020330712930333758, -0.0008493720068672627, -0.0024902864371555097, 2.530044275774475e-05, -0.038583175205566096], "std": [0.38775413464201725, 0.38337224212220833, 0.04321999977975428, 0.0, 0.9315185305839758, 0.5205445309635711, 0.18658112044394617, 0.339269091162551, 0.031230743220046972, 0.0736512210891442, 0.06951639015783262, 0.9992553920750521], "count": [1581]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010120176710188389], "std": [0.10008876025676727], "count": [1581]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006325110689437065], "std": [0.025141817728465264], "count": [1581]}, "timestamp": {"min": [0.0], "max": [79.0], "mean": [39.5], "std": [22.819764824964054], "count": [1581]}, "frame_index": {"min": [0], "max": [1580], "mean": [790.0], "std": [456.3952964992811], "count": [1581]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [1581]}, "index": {"min": [118150], "max": [119730], "mean": [118940.0], "std": [456.3952964992811], "count": [1581]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1581]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5470983121261345]], [[0.5018369484725357]], [[0.47877140547522123]]], "std": [[[0.1964935440146478]], [[0.2057341136943055]], [[0.20936233704770457]]], "count": [303]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5213268211155905]], [[0.4711277474865191]], [[0.4450813225817929]]], "std": [[[0.22507878447571486]], [[0.22470024431096616]], [[0.22437995313954956]]], "count": [303]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5071518454838361]], [[0.4654862258902246]], [[0.4448173620211286]]], "std": [[[0.21898287528731603]], [[0.21969086739243676]], [[0.22030435548812458]]], "count": [303]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [2039]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2039]}, "observation.state": {"min": [0.6019301486609212, -2.368730032020265, 0.6999959641712666, 0.0, 0.0, -1.0, 3.4307120131416013e-06, -0.08428604621906022, -0.09156392671709668, 0.2487340884662067, -0.987261176109314, -0.27553313970565796, -0.6629788279533386, 5.7319437473779544e-05, 0.007960554688585284, -0.040503300992876135], "max": [3.1270225893479133, -1.4522498568435689, 0.7056063643259984, 0.0, 0.0, 1.0, 0.7100524306297302, 0.6224941669531763, 0.1502854148230297, 0.8617645803781568, 0.9897130727767944, 0.26585882902145386, 0.5584434866905212, 0.10701931267976761, 0.04000833986593537, -0.0061717254485472925], "mean": [1.608217061027077, -1.8130525798074353, 0.7026660000497821, 0.0, 0.0, 0.0055015666219403545, 0.3013590607438539, 0.1827277170064003, 0.0015475997392971443, 0.6616859641618645, 0.22890890059721358, 0.004696022995024583, 0.07015979750782558, 0.03547851527133686, 0.03112235424866462, -0.03229793963707274], "std": [0.9036922402631253, 0.33134427430264624, 0.001935007649076023, 0.0, 0.0, 0.9037840693286858, 0.30385326830437653, 0.19799162640122034, 0.05814963127194215, 0.15526389364613563, 0.8752788470481478, 0.10425207085270041, 0.4047869763151953, 0.023737939382268914, 0.011396890848234899, 0.011884212841462601], "count": [2039]}, "action": {"min": [-1.0, -1.0, -0.9228571428571428, 0.0, -1.0, -1.0, -0.6642857142857144, -1.0, -0.14857142857142858, -0.5485714285714286, -0.21142857142857144, -1.0], "max": [1.0, 1.0, 0.6857142857142857, 0.0, 1.0, 0.8285714285714285, 0.4785714285714286, 1.0, 0.17142857142857143, 0.45999999999999996, 0.26285714285714284, 1.0], "mean": [0.0021999579625867093, 0.032726126252364575, 0.01588593848525188, 0.0, -0.23589995095635116, 0.0007706859104603107, -0.005913262803895474, -0.043032298745883865, -0.0011476213830308975, -0.0032256708470538805, 0.0009570517760807137, -0.03678273663560569], "std": [0.39202824536198266, 0.26411889211544204, 0.2250067477078088, 0.0, 0.9717773475126827, 0.4453416885687562, 0.12283278335944861, 0.3384594852272801, 0.025970606804116263, 0.10370813176006069, 0.03793280224099101, 0.9993232861719913], "count": [2039]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007846984080970287], "std": [0.08823495358228683], "count": [2039]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004904364884747426], "std": [0.02214036947581307], "count": [2039]}, "timestamp": {"min": [0.0], "max": [101.9], "mean": [50.95], "std": [29.43042643252048], "count": [2039]}, "frame_index": {"min": [0], "max": [2038], "mean": [1019.0], "std": [588.6085286504095], "count": [2039]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [2039]}, "index": {"min": [119731], "max": [121769], "mean": [120750.0], "std": [588.6085286504095], "count": [2039]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [2039]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4975601516436083]], [[0.466232902612422]], [[0.4512047630630788]]], "std": [[[0.20406237376110997]], [[0.21696061910780579]], [[0.21170635036432417]]], "count": [257]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48651614233895774]], [[0.40875526498655]], [[0.3982656245902118]]], "std": [[[0.24814668231550238]], [[0.27274253597484427]], [[0.26208827320732875]]], "count": [257]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49590632266289597]], [[0.4186835053475123]], [[0.4077237971561892]]], "std": [[[0.2371117489176782]], [[0.265937411949333]], [[0.252038335867739]]], "count": [257]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1641]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1641]}, "observation.state": {"min": [1.120385035146673, -1.4257299297264456, 0.6999985738914992, 0.0, 0.0, 0.5254760384559631, 0.6181894540786743, -0.026407573459832134, -0.148184630136448, 0.2483153394022306, -0.9901075959205627, -0.21440839767456055, -0.5815897583961487, 0.0002023422857746482, 0.00551511195205966, -0.04004942715251519], "max": [3.5143102181361145, -0.845849872727182, 0.7015802228089189, 0.0, 0.0, 0.7860291600227356, 0.8508083820343018, 0.7764310945046446, 0.1084577010603649, 0.7803087263320269, 0.9610101580619812, 0.34274470806121826, 0.5722981691360474, 0.213046133518219, 0.04009564126809092, -0.011369084457985618], "mean": [2.0440054387422846, -1.0989042162253715, 0.7007720853458446, 0.0, 0.0, 0.7310268411107502, 0.6797327922292775, 0.2714220815855219, 0.0061472293378405235, 0.5797177591122138, -0.6868709468536447, -0.04332959740936284, -0.23151752734097092, 0.044970739735355675, 0.032585714371813165, -0.03394614742394058], "std": [0.9448836169465896, 0.1547006931427561, 0.0005383338975007176, 0.0, 0.0, 0.04180803595505753, 0.04260488741321475, 0.2183511973153959, 0.0451686499839233, 0.12663461103031765, 0.6297193190255226, 0.09651713725325875, 0.252880036796014, 0.02996367853189755, 0.009793632070091226, 0.008516776767712253], "count": [1641]}, "action": {"min": [-1.0, -1.0, -0.5885714285714285, 0.0, -1.0, -1.0, -0.8785714285714286, -1.0, -0.2485714285714286, -0.7171428571428572, -0.26857142857142857, -1.0], "max": [1.0, 1.0, 0.8885714285714287, 0.0, 1.0, 1.0, 0.75, 1.0, 0.39714285714285713, 0.41714285714285715, 0.5228571428571429, 1.0], "mean": [0.003338556629233042, -0.028715069208670674, -0.00018977975102289562, 0.0, -0.2797074954296161, 0.010759989553408181, -0.015548010794811516, -0.009301819448071734, 0.0019239139897275193, -0.002911116914773222, 0.0022042308696787684, -0.15295551492992077], "std": [0.28342265146625595, 0.4850177416494321, 0.10528190925266369, 0.0, 0.9600852654845193, 0.5197089405072729, 0.14751342948381907, 0.37549447066942626, 0.042796040494891774, 0.1034365641664436, 0.07316195046635096, 0.9882330749638739], "count": [1641]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009750152006745338], "std": [0.0982603058218956], "count": [1641]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006093845216331506], "std": [0.024678192238045807], "count": [1641]}, "timestamp": {"min": [0.0], "max": [82.0], "mean": [41.0], "std": [23.685790395650017], "count": [1641]}, "frame_index": {"min": [0], "max": [1640], "mean": [820.0], "std": [473.7158079130004], "count": [1641]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [1641]}, "index": {"min": [121770], "max": [123410], "mean": [122590.0], "std": [473.7158079130004], "count": [1641]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1641]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5203456750110995]], [[0.4848759047158654]], [[0.4613667607204428]]], "std": [[[0.21067969230427397]], [[0.21878616019360356]], [[0.225991465656581]]], "count": [295]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.508984453702694]], [[0.44142085705773304]], [[0.41509112047808394]]], "std": [[[0.23638496522699345]], [[0.23924663868179738]], [[0.23288437183212193]]], "count": [295]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5291605623396737]], [[0.4760372134735118]], [[0.43907713890392625]]], "std": [[[0.24420001435418665]], [[0.23705931253386597]], [[0.22884097447689616]]], "count": [295]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1964]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1964]}, "observation.state": {"min": [0.7625486219046287, -4.786443340768842, 0.699993049038644, 0.0, 0.0, -1.0, 3.344313768138818e-07, -0.18479922304589436, -0.14305469710049667, 0.24587528399779246, -0.989204466342926, -0.5871447324752808, -0.5666478276252747, 0.00010967472189804539, 0.0016440266423718571, -0.040343090341979845], "max": [1.8023946751723774, -3.153649442731867, 0.7014820750822778, 0.0, 0.0, 1.0, 0.44790950417518616, 0.6344413215751612, 0.1956351252258619, 0.8264072787397563, 0.9715985059738159, 0.621715784072876, 0.5656096339225769, 0.3983171582221985, 0.04010045437847189, -0.010383672056978497], "mean": [1.1602204687952034, -4.133633891091818, 0.7003087343175786, 0.0, 0.0, 0.590327830882762, 0.050274138167930076, 0.14988105193322077, -0.009587070259279878, 0.6276440392086357, 0.22173427030171008, 0.12883156825562603, 0.0708591413592373, 0.07478546448516242, 0.02997797081075417, -0.029822306198744108], "std": [0.3215081149947751, 0.6279377484618951, 0.00039362196450537946, 0.0, 0.0, 0.8027605079785675, 0.06753624302935633, 0.21187472659872944, 0.0656574084885936, 0.14074918857065657, 0.8793867245505979, 0.18934576359554992, 0.32346670755615736, 0.09909044039742286, 0.012807409919521609, 0.011877333246634545], "count": [1964]}, "action": {"min": [-1.0, -1.0, -0.6257142857142857, 0.0, -1.0, -1.0, -0.9214285714285714, -1.0, -0.4028571428571428, -0.4514285714285714, -0.19142857142857142, -1.0], "max": [1.0, 1.0, 0.6114285714285714, 0.0, 1.0, 0.8500000000000001, 0.9, 1.0, 0.2257142857142857, 0.2857142857142857, 0.26857142857142857, 1.0], "mean": [0.02266147803316846, 0.013278295024730893, -0.0023421588594704705, 0.0, -0.22708757637474541, 0.0022185045097468797, 0.001756619144602861, -0.010143293569973805, -0.0032019202793133546, -0.006050334594122782, 0.0020453884201338444, -0.15682281059063136], "std": [0.41290334788144833, 0.4046998281942083, 0.1177962467496153, 0.0, 0.9738743413070402, 0.45301947462291314, 0.14718497351887286, 0.34234662985246184, 0.04438290744820534, 0.08504837415503767, 0.05387018679634193, 0.9876267544363436], "count": [1964]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008146639913320541], "std": [0.08989033102989197], "count": [1964]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005091649694501018], "std": [0.022558938815555724], "count": [1964]}, "timestamp": {"min": [0.0], "max": [98.15], "mean": [49.075], "std": [28.347894542628737], "count": [1964]}, "frame_index": {"min": [0], "max": [1963], "mean": [981.5], "std": [566.9578908525747], "count": [1964]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [1964]}, "index": {"min": [123411], "max": [125374], "mean": [124392.5], "std": [566.9578908525747], "count": [1964]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1964]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5473755985098604]], [[0.4904968974267981]], [[0.4682156075634085]]], "std": [[[0.1862721920802955]], [[0.21675926396963865]], [[0.21927325374313536]]], "count": [304]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.597963502803208]], [[0.565631694616548]], [[0.5219376492180445]]], "std": [[[0.22305350062083928]], [[0.21192584876391538]], [[0.2130103481225324]]], "count": [304]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5929099674441374]], [[0.5654625747964109]], [[0.529188621253298]]], "std": [[[0.2343454213351867]], [[0.22042281181058002]], [[0.21549494426954277]]], "count": [304]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2045]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2045]}, "observation.state": {"min": [4.1763499256967895, -4.367205518059194, 0.6999979951651617, 0.0, 0.0, -0.10928520560264587, 0.8572368621826172, -0.0027541643048083486, -0.08256789014915933, 0.23946662536347585, -0.9983009099960327, -0.24436503648757935, -0.5477367043495178, 8.193645953724626e-06, 0.018486070269101817, -0.04012679683342789], "max": [4.882831635361104, -1.8845176153789143, 0.7058252456594765, 0.0, 0.0, 0.5149222016334534, 1.0, 0.873073610784358, 0.2103765019393895, 0.8095725482782, 0.9967808723449707, 0.35675251483917236, 0.4787706136703491, 0.17452551424503326, 0.04015743382831033, -0.016464147864335022], "mean": [4.545026090961977, -3.3938179275023734, 0.7034121511936378, 0.0, 0.0, -0.020391502457960235, 0.9945037490581242, 0.3052200965294576, 0.03731868047927062, 0.571439941745116, -0.18457606252656297, 0.035226592993532244, -0.06860377086932182, 0.047906049688270703, 0.03583324046471877, -0.0340709606013829], "std": [0.19395847153679846, 0.9571438189838982, 0.0018438649057494602, 0.0, 0.0, 0.10108230449568975, 0.018134537983136592, 0.2057885684524878, 0.05097765013234712, 0.1439093409564833, 0.9110602682556411, 0.12270102658602695, 0.33413731030846056, 0.030906298175618536, 0.005196993746295422, 0.007376073226629407], "count": [2045]}, "action": {"min": [-1.0, -1.0, -0.6571428571428571, 0.0, -1.0, -1.0, -0.7785714285714286, -1.0, -0.3485714285714286, -0.48, -0.27714285714285714, -1.0], "max": [1.0, 1.0, 0.5542857142857143, 0.0, 1.0, 0.7428571428571429, 1.0, 1.0, 0.2257142857142857, 0.40857142857142864, 0.31142857142857144, 1.0], "mean": [0.043513796716730696, 0.041990918616835474, -0.0027411805798113853, 0.0, -0.26356968215158927, -0.006322039818372379, 0.004470834788683191, -0.03694027244149502, -0.0015969263010827796, -0.0023290254977296533, -0.00021655606007684366, -0.04645476772616137], "std": [0.2798619416313956, 0.46181034752735334, 0.1285438652691063, 0.0, 0.9646403592274766, 0.4176143870084738, 0.15755374681270193, 0.3665171653125448, 0.03804347016253815, 0.09289532797335265, 0.050834668015213975, 0.9989203945037438], "count": [2045]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007823960855603218], "std": [0.08810644596815109], "count": [2045]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004889975550122249], "std": [0.02210788177106565], "count": [2045]}, "timestamp": {"min": [0.0], "max": [102.2], "mean": [51.1], "std": [29.51702898328353], "count": [2045]}, "frame_index": {"min": [0], "max": [2044], "mean": [1022.0], "std": [590.3405796656706], "count": [2045]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [2045]}, "index": {"min": [125375], "max": [127419], "mean": [126397.0], "std": [590.3405796656706], "count": [2045]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2045]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5680371677895811]], [[0.5552326914055727]], [[0.5318750548743034]]], "std": [[[0.21487447183010563]], [[0.22417545668595545]], [[0.2514468218735955]]], "count": [311]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5282813763725195]], [[0.5086199066872089]], [[0.48961023598013115]]], "std": [[[0.21603566264141524]], [[0.22515755498054063]], [[0.2342926029550545]]], "count": [311]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5319822086887156]], [[0.5112489264877662]], [[0.49173420111849375]]], "std": [[[0.2174805551112605]], [[0.22797085358377106]], [[0.23788762298641697]]], "count": [311]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2108]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2108]}, "observation.state": {"min": [4.67753036601311, -1.561182968867228, 0.6999954053716058, 0.0, 0.0, -0.11485423147678375, 0.9930768013000488, -0.023164411755582925, -0.16547142451653468, 0.24078622211634737, -0.9914620518684387, -0.20725807547569275, -0.5270970463752747, 1.0487817235116381e-05, 0.009359030302023825, -0.04025708243822948], "max": [5.901549209828299, 0.4692548984514927, 0.7037575416903612, 0.0, 0.0, 0.11746679246425629, 1.0, 0.621279585324034, 0.09271722375674563, 0.7666013891091856, 0.9808314442634583, 0.37437933683395386, 0.5587035417556763, 0.19888822734355927, 0.04031971005290198, -0.012729733907413391], "mean": [5.572507525917905, -0.8010303588033604, 0.7019264070747093, 0.0, 0.0, -0.04889890483355336, 0.9984380322061408, 0.2535096838125674, -0.022026407913404288, 0.5544441209303224, 0.40130536815247003, 0.07678672829660564, 0.1722020281538848, 0.04037423887012989, 0.030157516762139843, -0.02934101156987885], "std": [0.312665914558834, 0.762680666107474, 0.001222039363061406, 0.0, 0.0, 0.027003852022924935, 0.0010866898186785504, 0.1558446399434542, 0.04625114862509582, 0.1374222394932573, 0.8256525932806124, 0.14525741745071594, 0.3115155939807706, 0.0439351044690451, 0.010355394555096918, 0.010712393706113507], "count": [2108]}, "action": {"min": [-1.0, -1.0, -0.4285714285714286, 0.0, -1.0, -1.0, -0.6357142857142857, -0.8571428571428572, -0.10285714285714286, -0.41428571428571437, -0.2742857142857143, -1.0], "max": [1.0, 1.0, 0.38285714285714284, 0.0, 1.0, 0.5928571428571429, 0.6071428571428572, 1.0, 0.1657142857142857, 0.3742857142857143, 0.27714285714285714, 1.0], "mean": [0.030221604770940623, 0.017914746543778805, -0.0020073190566549195, 0.0, -0.2874762808349146, -0.00912510165356467, -0.0019280292762266153, -0.03553130929791279, -0.001073461642721604, -0.00907834101382489, -0.0015925725128761179, -0.026565464895635674], "std": [0.3877085832278213, 0.38352852921695957, 0.05192788342996517, 0.0, 0.9577877572601113, 0.3313451996947728, 0.11118661361070148, 0.2642942593064058, 0.02363481512620287, 0.07872836406219275, 0.04180445914834947, 0.999647075759671], "count": [2108]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007590132765471935], "std": [0.08679011464118958], "count": [2108]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004743833017077799], "std": [0.021775175365329226], "count": [2108]}, "timestamp": {"min": [0.0], "max": [105.35], "mean": [52.675], "std": [30.426355762726498], "count": [2108]}, "frame_index": {"min": [0], "max": [2107], "mean": [1053.5], "std": [608.5271152545299], "count": [2108]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [2108]}, "index": {"min": [127420], "max": [129527], "mean": [128473.5], "std": [608.5271152545299], "count": [2108]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2108]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5916226154566884]], [[0.5690975325766775]], [[0.5390931976422665]]], "std": [[[0.19889206550211738]], [[0.19358667426710546]], [[0.21238018751233437]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6036546548293379]], [[0.5194889999804125]], [[0.4333430628357098]]], "std": [[[0.2476250339681745]], [[0.22627786689389304]], [[0.2564857127641804]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6132935967456524]], [[0.5377863129644777]], [[0.45931362585104457]]], "std": [[[0.24968490772894414]], [[0.23630208901926783]], [[0.2722482153873035]]], "count": [218]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1313]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1313]}, "observation.state": {"min": [2.836049106902395, -4.47222455586611, 0.6999965497602905, 0.0, 0.0, -0.08823342621326447, 0.9960998296737671, -0.08478901540623562, -0.2010867414465749, 0.26527433653841914, -0.9903458952903748, -0.2896018624305725, -0.5809547901153564, 0.00012626699754036963, 0.01492612100092983, -0.04054211601500099], "max": [3.689338156006545, -3.065335054831484, 0.7020991039577112, 0.0, 0.0, 0.008975759148597717, 1.0, 0.6184290298034254, 0.09097002258886988, 0.8112930106878373, 0.9710649847984314, 0.28764063119888306, 0.5903568267822266, 0.09900332987308502, 0.04034037472057504, -0.011723554126244339], "mean": [3.433882186134415, -3.9521108880251976, 0.7010970654247611, 0.0, 0.0, -0.03292238485815994, 0.999276381090953, 0.21031703755765244, -0.05823736560568945, 0.5481818165285264, 0.45008196807143713, 0.06779427337265159, 0.1599268952195915, 0.04700613050818096, 0.031227443191861173, -0.03123779485248514], "std": [0.23228103477118064, 0.5536980148320979, 0.0006454153662536988, 0.0, 0.0, 0.01903501082903678, 0.0007128655241963179, 0.19055026609533754, 0.0518171241128612, 0.12913619934265824, 0.8128384071369402, 0.12153972166547931, 0.2978608005925815, 0.029064245410944854, 0.009076599791906578, 0.009201993562619143], "count": [1313]}, "action": {"min": [-1.0, -1.0, -0.1457142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.1742857142857143, -0.4257142857142857, -0.1457142857142857, -1.0], "max": [1.0, 1.0, 0.1742857142857143, 0.0, 1.0, 0.95, 0.7857142857142857, 1.0, 0.30857142857142855, 0.35428571428571426, 0.16857142857142857, 1.0], "mean": [0.011424219345011425, 0.03284735066913284, -0.002498095963442499, 0.0, -0.3038842345773039, 0.009144815580459185, -0.014399956479164415, -0.006370362310956375, -0.0017147209226417136, 0.0001849635513001819, -4.3520835600044544e-06, -0.06930693069306931], "std": [0.41917431680162026, 0.41490165202287643, 0.02850217534978327, 0.0, 0.9527089649916031, 0.5483912571183374, 0.19037515881686726, 0.3795753692997156, 0.03924058633712245, 0.06239409155433682, 0.03179253325245015, 0.9975953835889235], "count": [1313]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012185834348201752], "std": [0.1097148135304451], "count": [1313]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007616146230007616], "std": [0.027586854952436915], "count": [1313]}, "timestamp": {"min": [0.0], "max": [65.6], "mean": [32.8], "std": [18.951517089668574], "count": [1313]}, "frame_index": {"min": [0], "max": [1312], "mean": [656.0], "std": [379.03034179337146], "count": [1313]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1313]}, "index": {"min": [129528], "max": [130840], "mean": [130184.0], "std": [379.03034179337146], "count": [1313]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1313]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41443445753473723]], [[0.38593035388845337]], [[0.3687012786454579]]], "std": [[[0.2441843595632523]], [[0.24465618245613766]], [[0.241806122073332]]], "count": [255]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.555714098421806]], [[0.5027233760002162]], [[0.4569176532726295]]], "std": [[[0.26585604585475736]], [[0.248511999151944]], [[0.23436050117596416]]], "count": [255]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5328779538105837]], [[0.4774500572383519]], [[0.43695647829635836]]], "std": [[[0.26266480089476096]], [[0.2625202546441149]], [[0.25946131255451166]]], "count": [255]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1621]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1621]}, "observation.state": {"min": [0.5906419413875368, -4.5719114167140305, 0.6999975477024047, 0.0, 0.0, -0.7361840605735779, 0.6767814755439758, -0.05716232750531747, -0.22670880439398416, 0.25543167863038574, -0.9871259331703186, -0.19130799174308777, -0.5445035099983215, 4.159480158705264e-05, 0.019303417280850003, -0.040428033647604646], "max": [1.730827363064098, -3.625484985722423, 0.7035439034619169, 0.0, 0.0, -0.6972326040267944, 0.7168449759483337, 0.5443410835794289, 0.09392155098911714, 0.8070002500352063, 0.9756611585617065, 0.18705257773399353, 0.5524678230285645, 0.1397540271282196, 0.04008462964092741, -0.016438290154464488], "mean": [1.1676353636702044, -4.254666959988394, 0.7013500527001707, 0.0, 0.0, -0.7101943655781802, 0.7038303575421615, 0.1888456014813721, -0.0360573623597917, 0.5793609397944608, 0.21126595711281534, 0.009864125499601794, 0.12684825367945202, 0.03384968164612977, 0.0341183910184094, -0.033264751562037884], "std": [0.44707214583888877, 0.26055036761422407, 0.0013173337276849398, 0.0, 0.0, 0.010982420330635503, 0.011232745171711559, 0.17455745343214718, 0.059409902618670296, 0.13284625269687372, 0.9015261944535896, 0.07919279227251941, 0.344046636559237, 0.025378108498620825, 0.006876739397716574, 0.007559507130256901], "count": [1621]}, "action": {"min": [-1.0, -1.0, -0.13428571428571429, 0.0, -1.0, -1.0, -0.9571428571428572, -1.0, -0.2, -0.5371428571428571, -0.23142857142857146, -1.0], "max": [1.0, 1.0, 0.2485714285714286, 0.0, 1.0, 0.9071428571428573, 0.7714285714285714, 1.0, 0.2571428571428571, 0.4714285714285714, 0.3171428571428571, 1.0], "mean": [0.006301224993390309, -0.026888164272494925, 0.0004741341323697896, 0.0, -0.3596545342381246, 0.0008240063452895146, -0.013774565964572136, -0.018947739490614346, 0.0011386269498545867, -0.006962192650039665, -0.0006856437824975777, -0.11289327575570636], "std": [0.3846482668624736, 0.3404997565277934, 0.02740680596565728, 0.0, 0.9330855352013326, 0.48499554866948813, 0.17733374719848527, 0.35357562183338465, 0.04288096376543052, 0.08005464552296472, 0.03715781231141266, 0.993607119685205], "count": [1621]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009870450012385845], "std": [0.09885860234498978], "count": [1621]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006169031462060457], "std": [0.024829872668103773], "count": [1621]}, "timestamp": {"min": [0.0], "max": [81.0], "mean": [40.5], "std": [23.397115206794194], "count": [1621]}, "frame_index": {"min": [0], "max": [1620], "mean": [810.0], "std": [467.94230413588383], "count": [1621]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [1621]}, "index": {"min": [130841], "max": [132461], "mean": [131651.0], "std": [467.94230413588383], "count": [1621]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1621]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5271162377982876]], [[0.4939055381045055]], [[0.4723136057167106]]], "std": [[[0.19132726311758289]], [[0.1972933594770743]], [[0.2071528079245143]]], "count": [297]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5446253286396827]], [[0.51311449088806]], [[0.4777960776464218]]], "std": [[[0.2331292061906203]], [[0.23886052671622857]], [[0.24077035929488183]]], "count": [297]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4779075873899973]], [[0.4422154239768627]], [[0.40988104096133926]]], "std": [[[0.22433672531952029]], [[0.23233196913830853]], [[0.2427707829887859]]], "count": [297]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1985]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1985]}, "observation.state": {"min": [0.8110735452563335, -2.2724793450726186, 0.6999735882491153, 0.0, 0.0, -0.9999998807907104, 3.473350443528034e-05, -0.023446509108185687, -0.17373185760086618, 0.2599697995890585, -0.9781524538993835, -0.22565266489982605, -0.4638550877571106, 0.00020008053979836404, 0.015725687106872464, -0.04016077689898125], "max": [2.0550230273626653, -0.9027290813162846, 0.702232765796043, 0.0, 0.0, 1.0, 0.08117948472499847, 0.6121349111315927, 0.10388583297899134, 0.7885659854039154, 0.9901806712150574, 0.23108211159706116, 0.569513738155365, 0.1868644505739212, 0.04008392168732402, -0.01823369508233304], "mean": [1.15393681537119, -1.6930144572066268, 0.7008078491775868, 0.0, 0.0, 0.6823823749868936, 0.024900709919123666, 0.19277865050168674, -0.02347962281375394, 0.6037948910503641, 0.5392257028923226, 0.06456776670454732, 0.2092042356504301, 0.05193504042419375, 0.031683318660861666, -0.03273731975593341], "std": [0.35140121035567345, 0.4933144898811935, 0.0006819604606511007, 0.0, 0.0, 0.7303047399000167, 0.01972958304027934, 0.1755385511432823, 0.05345530166277466, 0.1372381782782494, 0.7554425488327271, 0.1273014351070577, 0.2631672209719188, 0.04946611967782608, 0.008477400262162928, 0.007450570616281532], "count": [1985]}, "action": {"min": [-1.0, -1.0, -0.1142857142857143, 0.0, -1.0, -1.0, -0.7714285714285714, -1.0, -0.1142857142857143, -0.48571428571428577, -0.11142857142857143, -1.0], "max": [1.0, 1.0, 0.24571428571428575, 0.0, 1.0, 0.942857142857143, 0.6285714285714287, 1.0, 0.20285714285714287, 0.26, 0.2571428571428571, 1.0], "mean": [0.02688736955739475, -0.031953940266282864, -0.00048650593738754945, 0.0, -0.26045340050377835, -0.002097876934148963, 0.0012018711766822656, -0.01635120546959336, -0.0015818639798488665, -0.005922993882691623, 0.0010219503418495877, -0.03173803526448363], "std": [0.42778576361308146, 0.309768514710641, 0.0319859917899448, 0.0, 0.9654864194622487, 0.4242627289668163, 0.1389777137794326, 0.3017337118165051, 0.03129229087714235, 0.07781117111390591, 0.03411339962069721, 0.9994962216624588], "count": [1985]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008564231917262077], "std": [0.09214600175619125], "count": [1985]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005037783375314861], "std": [0.0224393525957885], "count": [1985]}, "timestamp": {"min": [0.0], "max": [99.2], "mean": [49.60000000000001], "std": [28.65100347282796], "count": [1985]}, "frame_index": {"min": [0], "max": [1984], "mean": [992.0], "std": [573.0200694565592], "count": [1985]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [1985]}, "index": {"min": [132462], "max": [134446], "mean": [133454.0], "std": [573.0200694565592], "count": [1985]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1985]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5107123766617605]], [[0.4807825083158263]], [[0.46286458559748855]]], "std": [[[0.16883662628977866]], [[0.18173734872499445]], [[0.19199797316719158]]], "count": [259]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5739886503719943]], [[0.5519968132615695]], [[0.5229958806791297]]], "std": [[[0.2524178160399278]], [[0.23600191487977717]], [[0.22524062826511046]]], "count": [259]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5313071685335875]], [[0.5143919620807044]], [[0.49034248448508416]]], "std": [[[0.2301484180783855]], [[0.2207053442398998]], [[0.2176899091132871]]], "count": [259]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1655]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1655]}, "observation.state": {"min": [0.7730259040281667, -2.7812266916868675, 0.699974916671391, 0.0, 0.0, -0.9999998807907104, 1.0615442079142667e-05, -0.005080539915765403, -0.2807214261697917, 0.2721033472126556, -0.9881362915039062, -0.22374755144119263, -0.5933950543403625, 4.431120714798453e-07, 0.02057387293857982, -0.0400506239844], "max": [2.24456094120204, -1.086556151845289, 0.7015624554190423, 0.0, 0.0, 1.0, 0.6620633006095886, 0.6652121162743121, 0.2888559531940591, 0.8295134649179594, 0.9945518374443054, 0.21797919273376465, 0.5723460912704468, 0.1259627789258957, 0.040115670151660905, -0.020492686157603517], "mean": [1.2523599429643726, -1.8752761231572783, 0.7008414075223991, 0.0, 0.0, -0.13170788929181518, 0.14846089707319116, 0.20323378285856544, -0.11411016271807581, 0.5276109208888721, 0.5207150768297316, -0.08479513662819416, 0.15724786881953928, 0.04020522047364632, 0.03532416450508823, -0.036043340863518264], "std": [0.42719611322470846, 0.48374426222243816, 0.0005404902149051062, 0.0, 0.0, 0.9673446351931471, 0.1576602306050113, 0.1673059063301373, 0.09181159367165166, 0.12543960694993792, 0.7911992255289102, 0.10248032765103483, 0.24043466230073687, 0.031858767097708636, 0.0050272265316325705, 0.004189624373001897], "count": [1655]}, "action": {"min": [-1.0, -1.0, -0.8971428571428571, 0.0, -1.0, -1.0, -1.0, -1.0, -0.24571428571428575, -0.6542857142857142, -0.27714285714285714, -1.0], "max": [1.0, 1.0, 0.8028571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.33714285714285713, 0.62, 0.5457142857142857, 1.0], "mean": [0.0424212343547691, 0.05404402244281401, 0.000999568407423395, 0.0, -0.06827794561933535, -0.006227880880448846, 0.0037462235649546754, -0.007168752697453598, 0.0015727233491583947, -0.0062511868795856705, 0.00345446698316789, -0.11299093655589124], "std": [0.5936568135214052, 0.35593496668600677, 0.31410018801143935, 0.0, 0.9976663380820237, 0.4492176524533294, 0.20289391295316306, 0.3297299936945932, 0.03983921920597595, 0.1155671482207073, 0.0626576527581138, 0.9935960186394687], "count": [1655]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009667674079537392], "std": [0.09784787893295288], "count": [1655]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006042296072507553], "std": [0.024573654873308468], "count": [1655]}, "timestamp": {"min": [0.0], "max": [82.7], "mean": [41.35], "std": [23.88786302706879], "count": [1655]}, "frame_index": {"min": [0], "max": [1654], "mean": [827.0], "std": [477.7572605413758], "count": [1655]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [1655]}, "index": {"min": [134447], "max": [136101], "mean": [135274.0], "std": [477.7572605413758], "count": [1655]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1655]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.633610533621843]], [[0.6170373989593242]], [[0.5970354687737679]]], "std": [[[0.20532918763555003]], [[0.21366950344313687]], [[0.22952970631832292]]], "count": [286]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6188643174751394]], [[0.6110037444436499]], [[0.6006536605376759]]], "std": [[[0.2268412645640976]], [[0.22821371752464567]], [[0.22976473402816353]]], "count": [286]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6138681403112628]], [[0.6066130123036431]], [[0.5980763541937822]]], "std": [[[0.24655759923605125]], [[0.24771455556710306]], [[0.25006199328098616]]], "count": [286]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1891]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1891]}, "observation.state": {"min": [4.91176028970462, -2.7738953828091284, 0.699995241288159, 0.0, 0.0, -0.11267618834972382, 0.9593159556388855, -0.023916390950962096, -0.2686377538227608, 0.22908618103221867, -0.9981957077980042, -0.2509014904499054, -0.589030921459198, 1.9146342310705222e-05, 0.011667306261972325, -0.040645266556076885], "max": [5.97768196507903, -1.0072958373213377, 0.7065595819165825, 0.0, 0.0, 0.2823348939418793, 1.0, 0.6342471209646048, 0.18908309427271286, 0.7968717883743411, 0.9968209266662598, 0.2627955377101898, 0.6702498197555542, 0.10644286870956421, 0.04027956275030043, -0.00988029324243511], "mean": [5.610248179866143, -2.137494858740268, 0.7034539940105989, 0.0, 0.0, -0.016595185742327802, 0.9985127206645524, 0.22697434935774707, -0.021665878438807382, 0.5375081754126337, 0.4224979433667906, 0.03848906702769301, 0.14845210231253547, 0.03071456426694097, 0.029619579951900694, -0.02889573672999722], "std": [0.30801786003594434, 0.653747859105914, 0.0018680697730552157, 0.0, 0.0, 0.05173235031616434, 0.004553249841614638, 0.177904213055096, 0.07742440532790827, 0.1327304358045517, 0.8293271879853832, 0.11549694301037489, 0.30871413622777516, 0.024599197129111038, 0.01168498045338254, 0.012288017781415209], "count": [1891]}, "action": {"min": [-1.0, -1.0, -0.5171428571428571, 0.0, -1.0, -1.0, -0.9, -1.0, -0.1457142857142857, -0.4285714285714286, -0.37714285714285717, -1.0], "max": [1.0, 1.0, 0.5885714285714285, 0.0, 1.0, 1.0, 0.4785714285714286, 1.0, 0.13428571428571429, 0.4657142857142857, 0.1742857142857143, 1.0], "mean": [0.03092090352798971, 0.04789604895369038, -0.002110750169978091, 0.0, -0.24907456372289793, -0.01518470952632771, -0.0079247563647352, -0.06067840145047972, -0.0033270378484550906, -0.013782579134244919, -0.002296592883583895, -0.004759386567953464], "std": [0.4323384408943466, 0.3877969082638299, 0.10693633135941, 0.0, 0.9684843115436915, 0.4039804822302074, 0.13344012342909564, 0.33593296393115524, 0.02556923591241317, 0.08751739385770116, 0.038488713045452254, 0.9999886740556245], "count": [1891]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00846113171428442], "std": [0.09159444272518158], "count": [1891]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005288207297726071], "std": [0.02299002127898906], "count": [1891]}, "timestamp": {"min": [0.0], "max": [94.5], "mean": [47.25], "std": [27.29423015950441], "count": [1891]}, "frame_index": {"min": [0], "max": [1890], "mean": [945.0], "std": [545.8846031900881], "count": [1891]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1891]}, "index": {"min": [136102], "max": [137992], "mean": [137047.0], "std": [545.8846031900881], "count": [1891]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1891]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6008224970186568]], [[0.5776075852477164]], [[0.5614818737553615]]], "std": [[[0.2283132975386212]], [[0.2416364205000462]], [[0.2520585258298999]]], "count": [215]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.581344557734749]], [[0.5751652502502635]], [[0.57394978089687]]], "std": [[[0.2908462310181033]], [[0.2919930896377986]], [[0.2893233183813138]]], "count": [215]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4993691731325524]], [[0.49096527781488686]], [[0.49023038920669104]]], "std": [[[0.29112720757187266]], [[0.29037363578751096]], [[0.28534198267917893]]], "count": [215]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1291]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1291]}, "observation.state": {"min": [4.714917071423952, -2.931098697085525, 0.6999718735451343, 0.0, 0.0, -0.40221741795539856, 0.9155442118644714, -0.05001515645612109, -0.019832972802220628, 0.27415263143119006, -0.994890570640564, -0.23665285110473633, -0.5381465554237366, 7.925098907435313e-05, 0.011846329360134389, -0.040004367207083516], "max": [5.901271973316387, -1.5071676949556398, 0.7003336025527769, 0.0, 0.0, 0.1744949370622635, 1.0, 0.6337899326266303, 0.2934420404528453, 0.8301207653307029, 0.9938252568244934, 0.24999359250068665, 0.5742607712745667, 0.20818838477134705, 0.0403927388042045, -0.014078044269795082], "mean": [5.508561653719915, -1.983733415007226, 0.7000755670826478, 0.0, 0.0, -0.06996203878540848, 0.9912625366084619, 0.24734360773384156, 0.14232020487428565, 0.5617853183144412, -0.4635192597217102, 0.08041676749077811, -0.15023895379626226, 0.0520726712090544, 0.03367690445041305, -0.034500358777354787], "std": [0.30853522330848826, 0.4738966707457867, 7.401155667709509e-05, 0.0, 0.0, 0.11041382284162883, 0.01768350081485333, 0.1617232174368455, 0.0880300611583395, 0.12555814551129524, 0.8183840215691233, 0.12162115645906055, 0.25754109740616543, 0.05028127446678371, 0.00880067221761519, 0.007149846990219066], "count": [1291]}, "action": {"min": [-1.0, -1.0, -0.6771428571428572, 0.0, -1.0, -1.0, -0.8642857142857142, -1.0, -0.3914285714285714, -0.6971428571428572, -0.21714285714285717, -1.0], "max": [1.0, 1.0, 0.8742857142857144, 0.0, 1.0, 1.0, 0.8285714285714285, 1.0, 0.2257142857142857, 0.74, 0.5571428571428572, 1.0], "mean": [0.1053557596547527, -0.020593117184906494, -0.00550625207480359, 0.0, -0.104570100697134, -0.0035299324997233746, 0.016686953635055873, 0.0111320128361182, -0.002558371140865331, -0.009020692707757001, 0.0002080336394821271, -0.1402013942680093], "std": [0.5774487222295607, 0.3893781158831089, 0.17470628368947994, 0.0, 0.9945175182168401, 0.5454751546245138, 0.15375240573444354, 0.43325282150701694, 0.054618751118999005, 0.12801991754741876, 0.0819144133062662, 0.9901230070275685], "count": [1291]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012393493205308914], "std": [0.11063405871391296], "count": [1291]}, "next.done": {"min": [false], "max": [true], "mean": [0.000774593338497289], "std": [0.027820735857580128], "count": [1291]}, "timestamp": {"min": [0.0], "max": [64.5], "mean": [32.25], "std": [18.633974347948428], "count": [1291]}, "frame_index": {"min": [0], "max": [1290], "mean": [645.0], "std": [372.67948695896854], "count": [1291]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1291]}, "index": {"min": [137993], "max": [139283], "mean": [138638.0], "std": [372.67948695896854], "count": [1291]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1291]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.534501243119506]], [[0.5029721221233385]], [[0.4860983936890937]]], "std": [[[0.18611892294486398]], [[0.18513685302497812]], [[0.19491966220676837]]], "count": [260]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5168897559164516]], [[0.498099759477296]], [[0.47968722681474185]]], "std": [[[0.22609256480250486]], [[0.22786220533052942]], [[0.23107136775096043]]], "count": [260]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5423906384406226]], [[0.5250734044415919]], [[0.5079182629707532]]], "std": [[[0.22410624747709512]], [[0.22907208196544918]], [[0.2350564727383222]]], "count": [260]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1666]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1666]}, "observation.state": {"min": [2.027417236752901, -4.310930270211129, 0.6999970648657915, 0.0, 0.0, -0.08474884182214737, 0.996402382850647, -0.03928613338355236, -0.24584467461089288, 0.27120804442584556, -0.9882052540779114, -0.19583430886268616, -0.5108171701431274, 0.00013272154319565743, 0.01255662290886717, -0.04045934796238574], "max": [2.953431633164542, -2.4560216295025636, 0.7025007224608377, 0.0, 0.0, 0.06214704364538193, 1.0, 0.6300425256800555, 0.20173558731578467, 0.7493835731476515, 0.9702270030975342, 0.1987554430961609, 0.5073713660240173, 0.11627037823200226, 0.040076416309787394, -0.016447729758651608], "mean": [2.6768426151436744, -3.550646839165614, 0.7008251140919193, 0.0, 0.0, -0.009672880925223353, 0.9994914357473298, 0.19400795410368027, -0.034220526226183504, 0.5929709656500795, 0.3738465658685311, 0.05907349603302052, 0.12655146115896654, 0.054337694869411444, 0.0322307101149676, -0.032777441191248625], "std": [0.2453224076455821, 0.7276002531434077, 0.0007682704368873332, 0.0, 0.0, 0.030371447156136603, 0.0009472008090949774, 0.17718496128787925, 0.0726811797393906, 0.12685911637082609, 0.8473288535790331, 0.0581082454570993, 0.33989647119538047, 0.030147044268761834, 0.009960122573666914, 0.00974068251203738], "count": [1666]}, "action": {"min": [-1.0, -1.0, -0.26857142857142857, 0.0, -1.0, -1.0, -0.9142857142857143, -0.942857142857143, -0.17714285714285713, -0.4571428571428572, -0.12285714285714287, -1.0], "max": [1.0, 1.0, 0.19428571428571428, 0.0, 1.0, 0.9714285714285714, 0.4285714285714286, 1.0, 0.17714285714285713, 0.26285714285714284, 0.18857142857142858, 1.0], "mean": [0.004729034470931238, 0.017852855427885422, -0.002718230149202539, 0.0, -0.23529411764705882, 0.006143886125878938, -0.012635054021608642, -0.014731606928485673, -0.0008300463042359798, -0.0018881838449665593, 0.0010992968616017845, -0.11884753901560624], "std": [0.3675528277270214, 0.42159685573972655, 0.02996131157372758, 0.0, 0.9719242142269569, 0.4473839516017966, 0.14133493040983922, 0.3590149658616859, 0.03280303121852519, 0.07243460244392386, 0.016907196985040715, 0.9929125150132478], "count": [1666]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009603841230273247], "std": [0.09752747416496277], "count": [1666]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006002400960384153], "std": [0.02449244389328111], "count": [1666]}, "timestamp": {"min": [0.0], "max": [83.25], "mean": [41.625], "std": [24.04663437988776], "count": [1666]}, "frame_index": {"min": [0], "max": [1665], "mean": [832.5], "std": [480.9326875977552], "count": [1666]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1666]}, "index": {"min": [139284], "max": [140949], "mean": [140116.5], "std": [480.9326875977552], "count": [1666]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1666]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4307969136519407]], [[0.40117081750673284]], [[0.39024560684842985]]], "std": [[[0.2373091606354297]], [[0.23396352459222083]], [[0.23375822292107473]]], "count": [229]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5556587583102718]], [[0.5064134476435737]], [[0.46372596054149007]]], "std": [[[0.25490041723239376]], [[0.23975389655144946]], [[0.22822960193606648]]], "count": [229]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5491784975783691]], [[0.49314660641395613]], [[0.449568510084122]]], "std": [[[0.2603807888078908]], [[0.2568711557549014]], [[0.2526305827730112]]], "count": [229]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1409]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1409]}, "observation.state": {"min": [0.5183387000577675, -4.5829808319481025, 0.6999980325462216, 0.0, 0.0, -0.8094581365585327, 0.5871776938438416, -0.09063137307512381, -0.13386199704900825, 0.26723147918274137, -0.994806170463562, -0.39567750692367554, -0.4337667226791382, 0.00014276635192800313, 0.012589346063952825, -0.040015995265954105], "max": [1.637481083341803, -3.595023191424419, 0.7025968010607131, 0.0, 0.0, -0.6901817917823792, 0.7236360311508179, 0.6257622437069568, 0.23713718058124245, 0.7917276130026423, 0.9777656197547913, 0.21894481778144836, 0.5252314209938049, 0.1435013860464096, 0.04022515193073577, -0.017626638095055238], "mean": [1.1078559481108916, -4.288109715603579, 0.7019209563412186, 0.0, 0.0, -0.730972054454771, 0.6808747106870918, 0.16487260638863344, 0.008825585611985844, 0.5745271274319841, -0.4011950969611439, -0.04757029391862214, -0.08361351026540703, 0.05370947605063722, 0.03260401340648183, -0.03353070909160477], "std": [0.44968454785231576, 0.2596161101896806, 0.0006738292269136641, 0.0, 0.0, 0.029940123796296268, 0.03454080776176278, 0.18539986328564728, 0.07872368456656689, 0.13283444068049063, 0.8560667648574116, 0.12408403954322021, 0.27781006867311236, 0.03844536309965701, 0.00824625210011368, 0.0072731288414467805], "count": [1409]}, "action": {"min": [-1.0, -1.0, -0.22, 0.0, -1.0, -1.0, -1.0, -0.9142857142857143, -0.24, -0.4028571428571428, -0.2057142857142857, -1.0], "max": [1.0, 1.0, 0.26857142857142857, 0.0, 1.0, 0.9214285714285714, 1.0, 1.0, 0.17142857142857143, 0.2285714285714286, 0.64, 1.0], "mean": [0.022148433539491027, -0.020277805941397154, -0.007040454222853088, 0.0, -0.36550745209368346, -0.0015259048970901136, -0.012744601034168109, -0.009855013687519001, -0.0004238061441752003, -0.004572645239785053, 0.0031775321910169326, -0.0688431511710433], "std": [0.4229138248229625, 0.3537154013129328, 0.044253008500387346, 0.0, 0.930808413404174, 0.5215463256003596, 0.24433400643011918, 0.35323164326266704, 0.03467286223827498, 0.07395382225640591, 0.09395057426002325, 0.9976274958805155], "count": [1409]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022001419216394424], "std": [0.14668795466423035], "count": [1409]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007097232079489], "std": [0.02663117535740769], "count": [1409]}, "timestamp": {"min": [0.0], "max": [70.4], "mean": [35.2], "std": [20.337158110217857], "count": [1409]}, "frame_index": {"min": [0], "max": [1408], "mean": [704.0], "std": [406.74316220435713], "count": [1409]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [1409]}, "index": {"min": [140950], "max": [142358], "mean": [141654.0], "std": [406.74316220435713], "count": [1409]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1409]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49591653720002116]], [[0.4636112869623523]], [[0.415615658534152]]], "std": [[[0.26788825878893224]], [[0.25794790964518777]], [[0.24029522728092828]]], "count": [233]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.547958782362655]], [[0.5222003433727048]], [[0.4692376361253997]]], "std": [[[0.21810540757022864]], [[0.19600544362936656]], [[0.1915642540700156]]], "count": [233]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5420646725906363]], [[0.5213853270580379]], [[0.4770235899671866]]], "std": [[[0.23402552253923103]], [[0.213173367587404]], [[0.20659724164509033]]], "count": [233]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1440]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1440]}, "observation.state": {"min": [0.48082384054604865, -1.6573723193486356, 0.6999968020867281, 0.0, 0.0, 0.6817696690559387, 0.705597460269928, -0.00495816046579689, -0.2925985511379103, 0.24441795282496392, -0.9866296052932739, -0.2740631401538849, -0.44910770654678345, 5.189641342440154e-06, 0.004073064511725641, -0.04237165839314705], "max": [2.2367751402253315, -0.7643132523679448, 0.7033367019538702, 0.0, 0.0, 0.7086127996444702, 0.7315667867660522, 0.6650177271492259, 0.1382349151929665, 0.7812778489359237, 0.9835159182548523, 0.38159260153770447, 0.47165513038635254, 0.19457422196865082, 0.04201455868641485, -0.009333724908795572], "mean": [1.552811191897844, -1.0789826021451814, 0.7011599317421046, 0.0, 0.0, 0.6945040662669473, 0.7193813012291987, 0.22776342574696917, -0.048025581071235564, 0.5427397964387811, -0.10064067770209577, 0.017428151186969547, -0.02872336669307616, 0.05515884155970462, 0.03477898667990688, -0.03172670069276608], "std": [0.6607148303892593, 0.22259674811139313, 0.0008374378108437735, 0.0, 0.0, 0.008934415043847151, 0.008649757035896405, 0.1666578841695508, 0.06397453407782075, 0.13880656753249282, 0.920747386664293, 0.17609725558331737, 0.3243556140400075, 0.041323448211797884, 0.0066102013496371625, 0.009054700200092665], "count": [1440]}, "action": {"min": [-1.0, -1.0, -0.07142857142857142, 0.0, -1.0, -1.0, -0.9071428571428573, -1.0, -0.37714285714285717, -0.6485714285714286, -0.4228571428571429, -1.0], "max": [1.0, 1.0, 0.14857142857142858, 0.0, 1.0, 1.0, 0.9142857142857143, 1.0, 0.20285714285714287, 0.34285714285714286, 0.19142857142857142, 1.0], "mean": [0.023516865079365068, 0.03288194444444444, -7.142857142857134e-05, 0.0, -0.325, -0.006924603174603171, -0.027048611111111114, -0.02868551587301587, 0.00017460317460317508, -0.0011666666666666687, -0.0016091269841269872, 0.002777777777777778], "std": [0.3774618696096591, 0.40756585615820123, 0.01536832372608198, 0.0, 0.9457140159688998, 0.4950330338803449, 0.1833634357346011, 0.3573404529096508, 0.048687339648784606, 0.07937924913189681, 0.05257293008690551, 0.9999961419678621], "count": [1440]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011111111380159855], "std": [0.10482200980186462], "count": [1440]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006944444444444445], "std": [0.026343162136653695], "count": [1440]}, "timestamp": {"min": [0.0], "max": [71.95], "mean": [35.975], "std": [20.784604679104834], "count": [1440]}, "frame_index": {"min": [0], "max": [1439], "mean": [719.5], "std": [415.69209358209673], "count": [1440]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1440]}, "index": {"min": [142359], "max": [143798], "mean": [143078.5], "std": [415.69209358209673], "count": [1440]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1440]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.551798750157796]], [[0.5186608168658088]], [[0.4950102057695908]]], "std": [[[0.18193254473468504]], [[0.2096417488778621]], [[0.23480414160141092]]], "count": [270]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5167956877620479]], [[0.4547980992934283]], [[0.43041655031424464]]], "std": [[[0.20432694700222778]], [[0.2557195644458268]], [[0.27992851744751446]]], "count": [270]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5310339590389831]], [[0.4596963093189026]], [[0.4322985635949982]]], "std": [[[0.21298849682496407]], [[0.27063601290631467]], [[0.29633198303281955]]], "count": [270]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1749]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1749]}, "observation.state": {"min": [0.5426196469180534, -1.8146778466489146, 0.6999949265878499, 0.0, 0.0, 0.6286529898643494, 0.6835992336273193, -0.032809792490349876, -0.2732248493955006, 0.2440060579147204, -0.9931930899620056, -0.40066438913345337, -0.49957945942878723, 4.7621877456549555e-05, 0.008169379778505298, -0.04011791991110443], "max": [2.3617818438367886, -0.8007574715306413, 0.7058387289692017, 0.0, 0.0, 0.7298575043678284, 0.7776859998703003, 0.7218055504337115, 0.17032806426904878, 0.7605131735624121, 0.9981608986854553, 0.4494493007659912, 0.6488609910011292, 0.11894974857568741, 0.04039162301854335, -0.009430928306432657], "mean": [1.6541793806473963, -1.1204377140695367, 0.7016988561853171, 0.0, 0.0, 0.6690557320299252, 0.7425406319608411, 0.2493640929273451, 0.006313835470370642, 0.5365387567067348, 0.14915156531429347, 0.004667731731482544, 0.03977634854896421, 0.03325683965685405, 0.03230535544671801, -0.030880226437147842], "std": [0.7177527883790915, 0.27453946578428257, 0.0018963552089731365, 0.0, 0.0, 0.02334310316130701, 0.021282250117487383, 0.2078490596454127, 0.06172622489867973, 0.1403513823060469, 0.9305518885938728, 0.1288084994208699, 0.3030301618503426, 0.026422002513212896, 0.010977963660067367, 0.011164379763557091], "count": [1749]}, "action": {"min": [-1.0, -1.0, -0.16285714285714287, 0.0, -1.0, -1.0, -0.8642857142857142, -0.9785714285714284, -0.16857142857142857, -0.52, -0.15714285714285714, -1.0], "max": [1.0, 1.0, 0.2285714285714286, 0.0, 1.0, 0.9928571428571428, 0.4785714285714286, 1.0, 0.3314285714285714, 0.3171428571428571, 0.2257142857142857, 1.0], "mean": [0.026194560156824316, 0.023711508617168982, -0.0014065180102915947, 0.0, -0.328759291023442, -0.0070366740178060905, -0.01103079310626481, -0.021342808135260957, 0.0004263660867434452, -0.0027787307032590123, -0.0045250347137139576, -0.08633504859919955], "std": [0.3922025440743546, 0.4246159022755576, 0.03820570110301565, 0.0, 0.9444137486111532, 0.4931817590286311, 0.1339829047559442, 0.3655910355628941, 0.03399273466838874, 0.09516694269336706, 0.044054073432071565, 0.9962661589070234], "count": [1749]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014293882064521313], "std": [0.11869948357343674], "count": [1749]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005717552887364208], "std": [0.023904568279436104], "count": [1749]}, "timestamp": {"min": [0.0], "max": [87.4], "mean": [43.7], "std": [25.244636394027676], "count": [1749]}, "frame_index": {"min": [0], "max": [1748], "mean": [874.0], "std": [504.89272788055354], "count": [1749]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1749]}, "index": {"min": [143799], "max": [145547], "mean": [144673.0], "std": [504.89272788055354], "count": [1749]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1749]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.506059130378722]], [[0.4836785249422749]], [[0.46561138141522007]]], "std": [[[0.21658519971991913]], [[0.22300009027789125]], [[0.22843671112462857]]], "count": [246]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.415871702729658]], [[0.3956145700229406]], [[0.3799691429971299]]], "std": [[[0.24227449686931202]], [[0.24588350042622517]], [[0.2508656994857411]]], "count": [246]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4143853478087357]], [[0.3994139311474399]], [[0.38256740147429336]]], "std": [[[0.23612138924872494]], [[0.24000877618540292]], [[0.2468069740361158]]], "count": [246]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1543]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1543]}, "observation.state": {"min": [0.45050223498379793, -4.547586003070805, 0.6999958516119789, 0.0, 0.0, -0.7749477624893188, 0.6320253014564514, -0.1081672546905792, -0.021552662880504503, 0.2581096170666357, -0.9908074140548706, -0.20755955576896667, -0.4649305045604706, 3.350782935740426e-05, 0.010465213863534313, -0.040012116420033265], "max": [1.558275407137793, -3.575848171421457, 0.7010867473589132, 0.0, 0.0, -0.7052251696586609, 0.7089834809303284, 0.6220047183764184, 0.12056171512663083, 0.7869435569913251, 0.9781796336174011, 0.1592884659767151, 0.5006998181343079, 0.10579993575811386, 0.04014100584770418, -0.01126089279857395], "mean": [1.0735398595181898, -4.224612649257961, 0.700567295894261, 0.0, 0.0, -0.737236398578231, 0.6750884166956721, 0.21785039202680204, 0.030105793378148903, 0.6248431077246411, -0.3355540208281902, -0.01772210711754535, -0.11911717448347355, 0.040571765022588524, 0.03144299518653592, -0.03331014899027277], "std": [0.4505021630010638, 0.26761222230143766, 0.00035780092827182407, 0.0, 0.0, 0.018163627964434537, 0.020204037959814306, 0.190400041558231, 0.035528336750935974, 0.1400247277279285, 0.8699261306782503, 0.07990629438426879, 0.3276256551449238, 0.027557231819509035, 0.009856417935734817, 0.009048578422838549], "count": [1543]}, "action": {"min": [-1.0, -1.0, -0.17142857142857143, 0.0, -1.0, -1.0, -0.6785714285714286, -1.0, -0.2, -0.44857142857142857, -0.18571428571428572, -1.0], "max": [1.0, 1.0, 0.2714285714285714, 0.0, 1.0, 1.0, 0.42142857142857143, 1.0, 0.1742857142857143, 0.29428571428571426, 0.35714285714285715, 1.0], "mean": [0.022363670030552715, -0.02247477085455052, -0.004197759466716047, 0.0, -0.3506156837329877, 0.007980742523840362, 0.0023608925099527747, -0.008494583834830101, -0.0007443755207851125, -0.006054994907878902, 0.00015554115359688977, -0.09915748541801685], "std": [0.4149826032976614, 0.3334630474279952, 0.031114173274329922, 0.0, 0.936519429761299, 0.4868543102880955, 0.10876323580566928, 0.3589600441895808, 0.026573339552785638, 0.0688837307867248, 0.05135627561003086, 0.9950717527322228], "count": [1543]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010369409807026386], "std": [0.10130095481872559], "count": [1543]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006480881399870382], "std": [0.02544932458337247], "count": [1543]}, "timestamp": {"min": [0.0], "max": [77.1], "mean": [38.550000000000004], "std": [22.271281956816047], "count": [1543]}, "frame_index": {"min": [0], "max": [1542], "mean": [771.0], "std": [445.4256391363209], "count": [1543]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [1543]}, "index": {"min": [145548], "max": [147090], "mean": [146319.0], "std": [445.4256391363209], "count": [1543]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1543]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6097840627318909]], [[0.5757791213005223]], [[0.5497919462461791]]], "std": [[[0.1920375384564372]], [[0.2083980533954244]], [[0.22108980099651993]]], "count": [263]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5821513417777995]], [[0.5017840369581545]], [[0.45391504351283796]]], "std": [[[0.2218059717925956]], [[0.2665943485865894]], [[0.2958098449992304]]], "count": [263]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5912419738291734]], [[0.5311946608667751]], [[0.494387070881852]]], "std": [[[0.21516038127746892]], [[0.2522011798899248]], [[0.2769388961755475]]], "count": [263]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1690]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1690]}, "observation.state": {"min": [4.2254077883640715, -4.387557311191865, 0.6999772798816268, 0.0, 0.0, -0.11048856377601624, 0.8941735625267029, 0.01370326381246123, -0.25664618096239983, 0.25413708248654476, -0.988213062286377, -0.4144580066204071, -0.4246760904788971, 3.641967487055808e-05, 0.01544959543490126, -0.04009913671348297], "max": [4.922755141302744, -0.9301046003970962, 0.7028275695971641, 0.0, 0.0, 0.4477205276489258, 1.0, 0.7362321820187105, 0.04451626660384392, 0.7796891132772162, 0.9945844411849976, 0.27355334162712097, 0.5086526274681091, 0.13980528712272644, 0.040159654606611465, -0.009988890412405993], "mean": [4.569089968241087, -3.241293104000585, 0.7012863902018776, 0.0, 0.0, -0.011021718323047127, 0.9964798159853241, 0.28242637412463795, -0.034745483116939306, 0.5264395930691596, 0.1876996189179505, -0.019552215422398947, 0.07271929858748377, 0.03557969257699208, 0.03307705103133315, -0.03127447086107343], "std": [0.19674767871890755, 1.181566847855612, 0.0009436899823889438, 0.0, 0.0, 0.08205395939294953, 0.013178378593531758, 0.19218030763084157, 0.03956600340837841, 0.12700302792418483, 0.9131434283670615, 0.13530945867479569, 0.32369235559252557, 0.03026950370830148, 0.007718290044538328, 0.009609476156324412], "count": [1690]}, "action": {"min": [-1.0, -1.0, -0.7142857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.16285714285714287, -0.44285714285714284, -0.31142857142857144, -1.0], "max": [1.0, 1.0, 0.5314285714285715, 0.0, 1.0, 1.0, 0.9142857142857143, 1.0, 0.3457142857142857, 0.4, 0.21142857142857144, 1.0], "mean": [0.030164835164835167, 0.07819949281487742, -0.00431614539306847, 0.0, -0.19763313609467456, -0.008271344040574799, -0.011060862214708358, -0.022992392223161455, -0.0009010989010989016, -0.0029416737109044812, 0.0015029585798816568, 0.016568047337278107], "std": [0.31052157333483366, 0.5245271306964038, 0.11105175700606251, 0.0, 0.9802760547506068, 0.4804744093573894, 0.17996736891274964, 0.3520969406109282, 0.0372303345979281, 0.09324154832253147, 0.047030263578349996, 0.9998627404836159], "count": [1690]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009467455558478832], "std": [0.09683915972709656], "count": [1690]}, "next.done": {"min": [false], "max": [true], "mean": [0.000591715976331361], "std": [0.02431801489708227], "count": [1690]}, "timestamp": {"min": [0.0], "max": [84.45], "mean": [42.225], "std": [24.393044602919087], "count": [1690]}, "frame_index": {"min": [0], "max": [1689], "mean": [844.5], "std": [487.86089205838175], "count": [1690]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [1690]}, "index": {"min": [147091], "max": [148780], "mean": [147935.5], "std": [487.86089205838175], "count": [1690]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1690]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6063580742407502]], [[0.5843555884267769]], [[0.5614851340563236]]], "std": [[[0.19751167832865055]], [[0.21049187626103855]], [[0.22988900098165915]]], "count": [235]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5539398193359375]], [[0.5398344803970458]], [[0.5204019632287755]]], "std": [[[0.23507168605944687]], [[0.23106901901153232]], [[0.23000532712086855]]], "count": [235]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.594463558523268]], [[0.5805271138178094]], [[0.5628125692597518]]], "std": [[[0.2277130411806851]], [[0.22732455264238238]], [[0.22832953510907184]]], "count": [235]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1455]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1455]}, "observation.state": {"min": [2.6921551812761604, -1.6365829389979234, 0.6999974525410758, 0.0, 0.0, 0.6583880186080933, 0.6621907949447632, -0.15359566327771756, -0.21116572057541916, 0.28097394935667475, -0.9890162944793701, -0.12352925539016724, -0.4879341423511505, 0.0013728664489462972, 0.014645066770285823, -0.04048041509341416], "max": [3.794577730662021, -0.8117289233047342, 0.7038208377031552, 0.0, 0.0, 0.7493352293968201, 0.752678632736206, 0.6137054881352021, 0.15497309360974576, 0.7868474066564936, 0.9710341691970825, 0.23635175824165344, 0.5160067677497864, 0.3036639094352722, 0.04022603812924097, -0.015452223352681201], "mean": [3.351435761812665, -1.0659108847121526, 0.7024272878386895, 0.0, 0.0, 0.6931973747781052, 0.7202249378273168, 0.22438877397073018, -0.0601916171778244, 0.5953743190651966, -0.11653303997623142, 0.01345900837908086, -0.05582901397623967, 0.04882711106903301, 0.03186569951036985, -0.03521182218663236], "std": [0.4276314299344083, 0.21962311872857332, 0.0013983496588777873, 0.0, 0.0, 0.019682107564561287, 0.019132396963509154, 0.19979710494627498, 0.058946114713604274, 0.14421012896970523, 0.9260795734668723, 0.07993667564486685, 0.33907540368514755, 0.04186360226942387, 0.00907043318403078, 0.00749184729274623], "count": [1455]}, "action": {"min": [-1.0, -1.0, -0.19714285714285715, 0.0, -1.0, -1.0, -0.6, -1.0, -0.25142857142857145, -0.4371428571428572, -0.10857142857142858, -1.0], "max": [1.0, 1.0, 0.2542857142857143, 0.0, 1.0, 0.942857142857143, 0.6285714285714287, 1.0, 0.33714285714285713, 0.26, 0.21142857142857144, 1.0], "mean": [0.019273441335297004, 0.013564064801178197, -0.002774668630338735, 0.0, -0.41030927835051545, 0.00039764359351987375, 0.005351006381934214, -0.024771723122238586, -0.0019322533136966135, -0.00550220913107511, -0.0008267059401080019, -0.15601374570446735], "std": [0.4063010333363348, 0.338617635326928, 0.03690051887209246, 0.0, 0.9119464326919035, 0.5225771135107667, 0.1604360419543161, 0.3903957912570009, 0.05347756631199213, 0.08888401879573096, 0.027697906975102497, 0.9877548841444748], "count": [1455]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010996563360095024], "std": [0.104286327958107], "count": [1455]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006872852233676976], "std": [0.02620711472843659], "count": [1455]}, "timestamp": {"min": [0.0], "max": [72.7], "mean": [36.35], "std": [21.001111081718193], "count": [1455]}, "frame_index": {"min": [0], "max": [1454], "mean": [727.0], "std": [420.02222163436386], "count": [1455]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [1455]}, "index": {"min": [148781], "max": [150235], "mean": [149508.0], "std": [420.02222163436386], "count": [1455]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1455]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5317990490103517]], [[0.5143996738626767]], [[0.49360758993475734]]], "std": [[[0.18800775101005096]], [[0.19264413019315016]], [[0.2096547381519849]]], "count": [271]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5042596131276398]], [[0.49464771316845174]], [[0.48058507207350626]]], "std": [[[0.20182017036294891]], [[0.19732279713383705]], [[0.19368590043401723]]], "count": [271]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4966729085392445]], [[0.4866738654676873]], [[0.4724851356143674]]], "std": [[[0.2087468209687594]], [[0.20404858438773046]], [[0.19964987609480692]]], "count": [271]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1760]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1760]}, "observation.state": {"min": [0.4287115977047764, -4.544391099028243, 0.6999970467572175, 0.0, 0.0, -0.7940552234649658, 0.6078457236289978, -0.06999968850883986, -0.21259792915053233, 0.2663565317036518, -0.9895718097686768, -0.21676619350910187, -0.49987855553627014, 5.441861503641121e-05, 0.020526878964884428, -0.040538215840382835], "max": [1.6149234136163753, -3.5903672437653595, 0.702471725270437, 0.0, 0.0, -0.7070671319961548, 0.707146406173706, 0.6760427229223733, 0.12625771330437519, 0.7686853653160274, 0.9738075733184814, 0.12996657192707062, 0.495606392621994, 0.0772828757762909, 0.040192399912802705, -0.016411794748744487], "mean": [1.0365821957750923, -4.243769194025028, 0.7013851155844673, 0.0, 0.0, -0.7403560659086162, 0.6713742438365112, 0.2198848650225011, 0.009817079733806727, 0.5495957254642478, -0.4498532737520608, -0.018392865495248274, -0.1345169715710323, 0.028262927593366592, 0.03707337126857303, -0.0365128652486004], "std": [0.4922103377845875, 0.27772480340083777, 0.0008326552791415086, 0.0, 0.0, 0.022189907830020273, 0.02524127886914703, 0.20286521187418058, 0.06394859523991742, 0.14090297143132158, 0.8298077255851282, 0.07224931820719739, 0.29012927498709806, 0.020598747435989488, 0.00388714776722756, 0.006518051793309969], "count": [1760]}, "action": {"min": [-1.0, -1.0, -0.16285714285714287, 0.0, -1.0, -1.0, -0.55, -0.7285714285714285, -0.1142857142857143, -0.5, -0.22, -1.0], "max": [1.0, 1.0, 0.12285714285714287, 0.0, 1.0, 0.9071428571428573, 0.7928571428571428, 1.0, 0.22285714285714286, 0.3657142857142857, 0.2885714285714286, 1.0], "mean": [0.02471590909090909, -0.021619318181818205, -0.00474675324675325, 0.0, -0.32954545454545453, 0.006282467532467541, 0.0010308441558441659, -0.007264610389610409, 0.0004918831168831164, -0.0017857142857142872, -0.0001428571428571409, -0.09431818181818181], "std": [0.38756490030112045, 0.33810019061510105, 0.023054160310894134, 0.0, 0.9441397107358959, 0.4701543577585245, 0.14674097012744644, 0.324233141971021, 0.023839953737948873, 0.07178018974671406, 0.04069443580824499, 0.9955421038702948], "count": [1760]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00909090880304575], "std": [0.09491187334060669], "count": [1760]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005681818181818182], "std": [0.023829792017625872], "count": [1760]}, "timestamp": {"min": [0.0], "max": [87.95], "mean": [43.975], "std": [25.40340774384413], "count": [1760]}, "frame_index": {"min": [0], "max": [1759], "mean": [879.5], "std": [508.06815487688266], "count": [1760]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [1760]}, "index": {"min": [150236], "max": [151995], "mean": [151115.5], "std": [508.06815487688266], "count": [1760]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1760]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5870695122183627]], [[0.5737120129624795]], [[0.5614766897058097]]], "std": [[[0.22590301985580524]], [[0.23946677609344771]], [[0.251924096928979]]], "count": [316]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.584259729108434]], [[0.5803404848993964]], [[0.58148247819883]]], "std": [[[0.28693580112187367]], [[0.28814207149097826]], [[0.28416534281157657]]], "count": [316]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5836049767042337]], [[0.5787971483326693]], [[0.5801635109718458]]], "std": [[[0.28644435441381627]], [[0.2877244882960596]], [[0.2834963801081528]]], "count": [316]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [2155]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2155]}, "observation.state": {"min": [0.5660639879398216, -1.836103967338055, 0.6999977832204494, 0.0, 0.0, 0.6608958840370178, 0.6712172627449036, -0.06430211776494232, -0.12307940989269106, 0.24104574347944552, -0.9947705864906311, -0.5602028965950012, -0.45022034645080566, 2.289513031428214e-05, 0.00388747243096052, -0.040949752892591555], "max": [2.285155049560828, -0.7697356596728465, 0.7117032872433459, 0.0, 0.0, 0.7412607073783875, 0.7504775524139404, 0.6847377554393843, 0.09960575006788952, 0.6434695414410343, 0.9949132204055786, 0.5070632696151733, 0.44794681668281555, 0.15593180060386658, 0.040679329986238064, -0.009642949918497162], "mean": [1.6617327397824817, -1.1288097535418489, 0.706165673855194, 0.0, 0.0, 0.7061999102203033, 0.7076476675451769, 0.24403655664085314, 0.006342416633478328, 0.4958993872940976, 0.08003738125626284, -0.017429830552253812, 0.021197593454141905, 0.026817181665422345, 0.03058341219797321, -0.030193592565075464], "std": [0.7098080709661239, 0.30157787409128206, 0.003336028334633024, 0.0, 0.0, 0.016078985211180015, 0.016060023891048318, 0.21521357923676235, 0.04488027985695452, 0.10675344779050477, 0.9467167698615289, 0.13062804188045693, 0.2798007626697858, 0.02229174012503048, 0.010796985744038288, 0.011091813363709872], "count": [2155]}, "action": {"min": [-1.0, -1.0, -0.19428571428571428, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2285714285714286, -0.4228571428571429, -0.23428571428571432, -1.0], "max": [1.0, 1.0, 0.24285714285714288, 0.0, 1.0, 0.8642857142857142, 0.5214285714285715, 1.0, 0.15142857142857147, 0.3142857142857143, 0.48, 1.0], "mean": [0.028856479946967162, 0.018190255220417614, 0.0010222074908849846, 0.0, -0.29466357308584684, -0.02165727543917799, -0.004391779913821679, -0.058326151806430276, 0.00041233012926748396, -0.0047013589658601255, -0.0014557507457739483, -0.12018561484918794], "std": [0.3693686847134882, 0.358855821227325, 0.02506695667792567, 0.0, 0.9556010562448349, 0.4230604906700928, 0.13100397657169846, 0.3222312688840686, 0.021075232297969787, 0.08060317955357363, 0.05008310929819445, 0.9927514381673477], "count": [2155]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007424593903124332], "std": [0.08584561198949814], "count": [2155]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004640371229698376], "std": [0.021536522293962492], "count": [2155]}, "timestamp": {"min": [0.0], "max": [107.7], "mean": [53.85000000000001], "std": [31.104742403691436], "count": [2155]}, "frame_index": {"min": [0], "max": [2154], "mean": [1077.0], "std": [622.0948480738286], "count": [2155]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [2155]}, "index": {"min": [151996], "max": [154150], "mean": [153073.0], "std": [622.0948480738286], "count": [2155]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [2155]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.396778806305953]], [[0.3705678537141827]], [[0.3484056419458471]]], "std": [[[0.22382519238268042]], [[0.22654093977769574]], [[0.23175400503694868]]], "count": [249]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4996168790703562]], [[0.4685403101856722]], [[0.46363344745979934]]], "std": [[[0.24471605812224836]], [[0.25804014211555754]], [[0.2658241031963026]]], "count": [249]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.511650655596113]], [[0.4551825105453985]], [[0.4439369735759829]]], "std": [[[0.25855217504739403]], [[0.281125955079552]], [[0.2931616410611316]]], "count": [249]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1568]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1568]}, "observation.state": {"min": [2.890980613658128, -2.1299657560480227, 0.6998918724725648, 0.0, 0.0, 0.6048932671546936, 0.7070285677909851, 0.004454182384086236, -0.16219564726132107, 0.24573346932760431, -0.9885545372962952, -0.2668071687221527, -0.5647876262664795, 2.267126092192484e-06, 0.004137712592990256, -0.04012313996235691], "max": [4.250587698186917, -0.7694704246788363, 0.7033533796442871, 0.0, 0.0, 0.7071850299835205, 0.7963065505027771, 0.6508454082032078, 0.5710822601374184, 0.7907505540951003, 0.9844701290130615, 0.21074199676513672, 0.49738046526908875, 0.19020214676856995, 0.04037470237751592, -0.004451790395903879], "mean": [3.54664086125384, -1.103484207449817, 0.7016997002063738, 0.0, 0.0, 0.6640435984092099, 0.7466826692071497, 0.2335632933321789, 0.038780161799746735, 0.5488722809619322, -0.12543664925864764, -0.006138452252715218, -0.026582923611237434, 0.04665152390198151, 0.03202641376140508, -0.03285539917424278], "std": [0.4996892724283886, 0.3299748266269517, 0.0009029878771239144, 0.0, 0.0, 0.029333687187971323, 0.025507223903296523, 0.16282524224176534, 0.1248040304052898, 0.1317041717395034, 0.9327694032748541, 0.060476630345889335, 0.32572143297617107, 0.039170296665798174, 0.009550109097593535, 0.008388199006060127], "count": [1568]}, "action": {"min": [-1.0, -1.0, -0.24285714285714288, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2885714285714286, -0.39714285714285713, -0.24285714285714288, -1.0], "max": [1.0, 1.0, 0.2485714285714286, 0.0, 1.0, 0.9357142857142857, 0.9928571428571428, 1.0, 0.12285714285714287, 0.3857142857142858, 0.21714285714285717, 1.0], "mean": [0.02373360058309037, -0.022558309037900858, -0.0030138483965014566, 0.0, -0.2997448979591837, 0.00034165451895044576, 0.004409620991253638, -0.025774416909621, -0.0037153790087463587, -0.004701166180758022, -0.0011516034985422736, -0.07270408163265306], "std": [0.4848446567214067, 0.3548424811332494, 0.04682491087045615, 0.0, 0.954019389817333, 0.45009281245265864, 0.2699066638677723, 0.34459052840309307, 0.03452581742371235, 0.08952332368637023, 0.048701232044322196, 0.9973535564251869], "count": [1568]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010204081423580647], "std": [0.10049854964017868], "count": [1568]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006377551020408163], "std": [0.025245759455216184], "count": [1568]}, "timestamp": {"min": [0.0], "max": [78.35], "mean": [39.175000000000004], "std": [22.632125949631863], "count": [1568]}, "frame_index": {"min": [0], "max": [1567], "mean": [783.5], "std": [452.6425189926373], "count": [1568]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [1568]}, "index": {"min": [154151], "max": [155718], "mean": [154934.5], "std": [452.6425189926373], "count": [1568]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1568]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.560718559821098]], [[0.545201359347778]], [[0.5331789313124605]]], "std": [[[0.2258571718044951]], [[0.23461722118724734]], [[0.23969972969011108]]], "count": [268]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5097211702127431]], [[0.46397265600886023]], [[0.439798480472894]]], "std": [[[0.240064782316026]], [[0.24385184986619945]], [[0.24987438660058606]]], "count": [268]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5116098903514225]], [[0.46811855987111206]], [[0.4454078821679602]]], "std": [[[0.24399000158365997]], [[0.2464852849488837]], [[0.25196398225313765]]], "count": [268]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1728]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1728]}, "observation.state": {"min": [4.768383141854857, -1.5325755981639093, 0.6999971559331708, 0.0, 0.0, -0.05737944319844246, 0.9983524084091187, -0.033705901252543136, -0.21796087552087867, 0.23257959620673252, -0.9892316460609436, -0.274006187915802, -0.4397542476654053, 3.374260813870933e-06, 0.00989757820746261, -0.04008805638114887], "max": [5.901239250651011, 0.4133035269752049, 0.7040985293965432, 0.0, 0.0, 0.0001549136359244585, 1.0, 0.6487668809976652, 0.08816440169695361, 0.7873809533321076, 0.967479944229126, 0.2685924172401428, 0.527451753616333, 0.3847232460975647, 0.04031831479273287, -0.012414042034568565], "mean": [5.5578215637761454, -0.7535746275917896, 0.7020834470942424, 0.0, 0.0, -0.03210791572698029, 0.9993670866997154, 0.2753608786038926, -0.02818164909292571, 0.5072713693644609, 0.2042581964008234, 0.0271583522187063, 0.09034769644063932, 0.036242786138603884, 0.03122412921731435, -0.031022784181333425], "std": [0.29277722918454996, 0.7203814516132405, 0.0015523831346817027, 0.0, 0.0, 0.015306798003473232, 0.0004635593509833742, 0.15509377940154054, 0.06590271024243845, 0.13056368795003315, 0.8987439695595029, 0.1207850870716188, 0.3504120720930976, 0.054280617746540055, 0.010018092863083469, 0.010082366564920134], "count": [1728]}, "action": {"min": [-1.0, -1.0, -0.1, 0.0, -1.0, -1.0, -1.0, -0.7642857142857143, -0.32857142857142857, -0.48, -0.19142857142857142, -1.0], "max": [1.0, 1.0, 0.15714285714285714, 0.0, 1.0, 0.7142857142857143, 0.8785714285714286, 1.0, 0.5914285714285714, 0.62, 0.29428571428571426, 1.0], "mean": [0.024661044973544977, 0.01982060185185186, -0.001468253968253967, 0.0, -0.2881944444444444, -0.004877645502645491, -0.008577215608465619, -0.014128637566137558, -0.0007523148148148149, 0.0014599867724867743, -0.0020105820105820083, -0.027777777777777776], "std": [0.4072066005283731, 0.4044840107980603, 0.017624364634590158, 0.0, 0.9575719096712145, 0.40037244878573763, 0.166695302853268, 0.3317784189770907, 0.056966377358960096, 0.09367229183284669, 0.04692330510787057, 0.9996141230803557], "count": [1728]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009259259328246117], "std": [0.09577850997447968], "count": [1728]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005787037037037037], "std": [0.02404929948516221], "count": [1728]}, "timestamp": {"min": [0.0], "max": [86.35], "mean": [43.175], "std": [24.941527452557242], "count": [1728]}, "frame_index": {"min": [0], "max": [1727], "mean": [863.5], "std": [498.8305490511449], "count": [1728]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [1728]}, "index": {"min": [155719], "max": [157446], "mean": [156582.5], "std": [498.8305490511449], "count": [1728]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1728]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5499441596196692]], [[0.5140714947368654]], [[0.4899431491547033]]], "std": [[[0.19983723806983367]], [[0.19849174807942316]], [[0.20648557306337478]]], "count": [268]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5705545648134415]], [[0.5438902363987879]], [[0.521087275620333]]], "std": [[[0.2538118290979609]], [[0.24151589583124347]], [[0.23808788116604235]]], "count": [268]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5404578316375669]], [[0.5170591290177816]], [[0.4963800391782471]]], "std": [[[0.2521082591430314]], [[0.24241119951758322]], [[0.24018548830585237]]], "count": [268]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1729]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1729]}, "observation.state": {"min": [2.6909186499862083, -4.502922403541445, 0.69999720177352, 0.0, 0.0, -0.3579787313938141, 0.9337297081947327, -0.03919705998469425, -0.18142098679727425, 0.25567202851673576, -0.9880999326705933, -0.20560044050216675, -0.5057703852653503, 3.538448436302133e-05, 0.016259698279798705, -0.04010308579932937], "max": [3.8045747277923745, -3.0637540061962607, 0.7020435794060595, 0.0, 0.0, 0.21190394461154938, 1.0, 0.5539561557497081, 0.12948206439622023, 0.7810227739243484, 0.983377993106842, 0.1979227066040039, 0.5698311924934387, 0.11511804163455963, 0.040136327773605956, -0.01796836645279909], "mean": [3.4458496556485607, -3.8773435738758426, 0.7007330846712793, 0.0, 0.0, -0.018603805264669624, 0.9982022117368743, 0.19531694696158988, -0.04277579067639739, 0.6194966482447382, 0.15938789317758184, 0.004740382969689687, 0.08452842962438485, 0.033093992892721746, 0.03614523641078157, -0.03233053949651132], "std": [0.34948690759551154, 0.5774905106958388, 0.0007111557192591338, 0.0, 0.0, 0.05647621334899422, 0.007529207200677169, 0.16552265234087457, 0.059955225912862294, 0.13974339782401735, 0.9044983682819266, 0.06829973784510995, 0.37801190567658555, 0.025643853633081283, 0.006060207549423215, 0.00825064001508399], "count": [1729]}, "action": {"min": [-1.0, -1.0, -0.5542857142857143, 0.0, -1.0, -1.0, -0.6428571428571428, -1.0, -0.12571428571428572, -0.4571428571428572, -0.15714285714285714, -1.0], "max": [1.0, 1.0, 0.5742857142857143, 0.0, 1.0, 0.7428571428571429, 0.4928571428571429, 1.0, 0.11714285714285716, 0.3057142857142857, 0.2057142857142857, 1.0], "mean": [0.03362802610922914, 0.006167892258117802, -0.002425844831859868, 0.0, -0.20994794679005205, -0.003453689167974887, -0.0074279104354292224, -0.01490539535652318, -0.0012542344873171939, -0.004709576138147564, 0.0001255886970172688, -0.054945054945054944], "std": [0.44836976130092726, 0.37148901668311346, 0.10373617063006771, 0.0, 0.9777125649384985, 0.42173307773351787, 0.11793498369409171, 0.33901088799749307, 0.019558253741104124, 0.07881417730921492, 0.030647121231540696, 0.9984893794813804], "count": [1729]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009253904223442078], "std": [0.0957510843873024], "count": [1729]}, "next.done": {"min": [false], "max": [true], "mean": [0.000578368999421631], "std": [0.024042347820504947], "count": [1729]}, "timestamp": {"min": [0.0], "max": [86.4], "mean": [43.2], "std": [24.955961211702505], "count": [1729]}, "frame_index": {"min": [0], "max": [1728], "mean": [864.0], "std": [499.11922423405014], "count": [1729]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1729]}, "index": {"min": [157447], "max": [159175], "mean": [158311.0], "std": [499.11922423405014], "count": [1729]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1729]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47610140918730637]], [[0.4420423268020828]], [[0.43195963904068174]]], "std": [[[0.18369529449364294]], [[0.19205146793739325]], [[0.19960565424178084]]], "count": [284]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4084639019611888]], [[0.37919707341735387]], [[0.3660618002195445]]], "std": [[[0.2204845197866804]], [[0.23440531997240807]], [[0.24206643869042233]]], "count": [284]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.454447016680448]], [[0.423994686629225]], [[0.40913369811657746]]], "std": [[[0.2105005073045154]], [[0.2260912346365988]], [[0.23591477131962096]]], "count": [284]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1868]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1868]}, "observation.state": {"min": [2.597420507488018, -1.4020925895816267, 0.6999976627798215, 0.0, 0.0, -0.072813980281353, 0.6790222525596619, 0.0489948111776618, -0.19400816600003812, 0.2477516770887036, -0.9897472858428955, -0.2667490541934967, -0.533609926700592, 1.2069668628100771e-05, 0.014025702005696838, -0.040097112395781356], "max": [4.212244224953822, -0.8067827527056916, 0.7025715867076844, 0.0, 0.0, 0.7341176271438599, 1.0, 0.6671588671072817, 0.01843643533696182, 0.7709657010644215, 0.9829039573669434, 0.2723139226436615, 0.5406315922737122, 0.14196032285690308, 0.04002933680478366, -0.013398154910297538], "mean": [3.478658420978424, -0.9911275466505555, 0.7008542790114805, 0.0, 0.0, 0.2593769331752206, 0.9063322002933674, 0.28447561735574944, -0.058978572582877566, 0.5773811328068262, 0.12940039078862559, 0.04198252748721927, 0.07914334082501348, 0.03471363945043473, 0.03264067450971081, -0.03486556178177478], "std": [0.5428414874419025, 0.10284173809842027, 0.0006767190326806302, 0.0, 0.0, 0.3120755785317405, 0.11787446090296358, 0.1484550790427763, 0.048159920191811666, 0.13916435760606438, 0.8959602071578233, 0.10746816881604929, 0.3984994347903338, 0.03046970348557322, 0.008373653568396623, 0.007696112429887649], "count": [1868]}, "action": {"min": [-1.0, -0.8642857142857142, -0.68, 0.0, -1.0, -1.0, -0.4928571428571429, -0.8571428571428572, -0.12571428571428572, -0.3742857142857143, -0.40857142857142864, -1.0], "max": [0.9571428571428572, 1.0, 0.5714285714285714, 0.0, 1.0, 0.7642857142857143, 0.6928571428571428, 1.0, 0.44857142857142857, 0.32857142857142857, 0.22285714285714286, 1.0], "mean": [-0.023814622208626478, -0.03778678494952586, 0.01628785561333741, 0.0, -0.1670235546038544, -0.005433618843683093, -0.0014606913429183375, -0.006798715203426118, -0.0012480881003364946, -0.0011501988375650072, -0.00019271948608137098, -0.02569593147751606], "std": [0.33517695989206, 0.20802734779277887, 0.21148672361497237, 0.0, 0.9859529056742409, 0.36095313866081974, 0.10899639231680563, 0.324794318040288, 0.03910748503022089, 0.0722700288905892, 0.04608557450800688, 0.9996698050384054], "count": [1868]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014989293180406094], "std": [0.12150972336530685], "count": [1868]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005353319057815846], "std": [0.023131046788509958], "count": [1868]}, "timestamp": {"min": [0.0], "max": [93.35], "mean": [46.675], "std": [26.962253707729996], "count": [1868]}, "frame_index": {"min": [0], "max": [1867], "mean": [933.5], "std": [539.2450741545999], "count": [1868]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1868]}, "index": {"min": [159176], "max": [161043], "mean": [160109.5], "std": [539.2450741545999], "count": [1868]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1868]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6047668323411547]], [[0.599553863953361]], [[0.5945621401640778]]], "std": [[[0.2208432817591564]], [[0.22881172169470523]], [[0.23396007346223424]]], "count": [309]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49890915431137567]], [[0.4794681462171046]], [[0.4666709250684876]]], "std": [[[0.25481346583597647]], [[0.2624926791960228]], [[0.2716053947581288]]], "count": [309]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5503181235304156]], [[0.5329452899047147]], [[0.5212122141297483]]], "std": [[[0.2480885862835826]], [[0.2572764503675801]], [[0.26663831723111253]]], "count": [309]}, "annotation.human.task_description": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [2094]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2094]}, "observation.state": {"min": [1.7417735691085299, -4.283531079110551, 0.6999958678113738, 0.0, 0.0, -0.10954190045595169, 0.9939821362495422, -0.1174641096006992, -0.28034086150649706, 0.2692597977215505, -0.9896782636642456, -0.18594598770141602, -0.5612415671348572, 3.820961501332931e-05, 0.006171045974522174, -0.04059050448265105], "max": [3.006413713170517, -2.0801878999559786, 0.7040539792941357, 0.0, 0.0, 0.06351950764656067, 1.0, 0.7367284833309284, 0.10012115331764093, 0.7978850426245447, 0.9903061985969543, 0.4202103018760681, 0.6236879229545593, 0.18223342299461365, 0.04001059854092666, 0.0019470325073947387], "mean": [2.6470394458946798, -3.5135668885742444, 0.7021475507356486, 0.0, 0.0, -0.017730032495755766, 0.9993666175044824, 0.1975282807015759, -0.06294780064318024, 0.5450229811800141, 0.6585597763373494, 0.0652029681043502, 0.23012615780149512, 0.05495824798042514, 0.028176929054636778, -0.028795344038547024], "std": [0.34416839339383287, 0.8274186248979409, 0.0012967336275503693, 0.0, 0.0, 0.0308426450655321, 0.0008739736954107429, 0.1932451440487274, 0.06501249975450558, 0.13023280456294373, 0.647309267555014, 0.14141289787052694, 0.25588345483462493, 0.03982332858926491, 0.01272909851932755, 0.012830165386498713], "count": [2094]}, "action": {"min": [-1.0, -1.0, -0.23142857142857146, 0.0, -1.0, -1.0, -0.6, -1.0, -0.3342857142857143, -0.6142857142857143, -0.4314285714285714, -1.0], "max": [1.0, 1.0, 0.2885714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.29428571428571426, 0.4314285714285714, 0.26285714285714284, 1.0], "mean": [0.04968958930276982, 0.007337290216946382, -0.0019661618228953466, 0.0, -0.28653295128939826, -0.011116796288716068, 0.00034793286942282807, -0.03440442079410567, -0.0017792331832446437, -0.003920043662164012, -0.0023577568563241925, -0.1279847182425979], "std": [0.40491165610145086, 0.40607238060276785, 0.048299599985196465, 0.0, 0.9580703877197178, 0.40212395294351727, 0.16055453101472203, 0.3314353105620658, 0.041875227965601954, 0.0866301458895963, 0.059594561154611106, 0.9917761400116445], "count": [2094]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0076408786699175835], "std": [0.08707752078771591], "count": [2094]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004775549188156638], "std": [0.021847811334666428], "count": [2094]}, "timestamp": {"min": [0.0], "max": [104.65], "mean": [52.325], "std": [30.224283145620948], "count": [2094]}, "frame_index": {"min": [0], "max": [2093], "mean": [1046.5], "std": [604.485662912419], "count": [2094]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [2094]}, "index": {"min": [161044], "max": [163137], "mean": [162090.5], "std": [604.485662912419], "count": [2094]}, "task_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [2094]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5767804190598615]], [[0.5502876982869577]], [[0.5282244524663944]]], "std": [[[0.18686459537868919]], [[0.2028119287030695]], [[0.22227169699791413]]], "count": [281]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.534825922291424]], [[0.5138077500926068]], [[0.49787053637990036]]], "std": [[[0.2113870264036611]], [[0.2126760143690622]], [[0.21305226692840404]]], "count": [281]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.50907481359043]], [[0.4907854007398597]], [[0.47728864778802566]]], "std": [[[0.2076274393847231]], [[0.20724376439216083]], [[0.20671593026948504]]], "count": [281]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1849]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1849]}, "observation.state": {"min": [4.941718104803841, -2.803582610218913, 0.6999981263563931, 0.0, 0.0, -0.08174306899309158, 0.9966534972190857, 0.035539918254984926, -0.2623884327543522, 0.24848754667883066, -0.9899882078170776, -0.4572867155075073, -0.4595748484134674, 1.4671863027615473e-05, 0.00574193029359784, -0.04017181859951528], "max": [5.954456655671318, -1.1654686237854393, 0.7033024396423717, 0.0, 0.0, 0.033678870648145676, 1.0, 0.5471413397037015, 0.10512151325486307, 0.7494875186609871, 0.9899802803993225, 0.2911534309387207, 0.5381314754486084, 0.14221319556236267, 0.04004830992682425, -0.008816218121254346], "mean": [5.63365224635186, -2.2182566689148064, 0.7019054837201965, 0.0, 0.0, -0.02882095151822838, 0.9988465467744934, 0.2449268765764837, 0.001543087065735613, 0.5452553884322218, -0.3406086047963235, -0.038958026959549225, -0.10937642349608206, 0.04674332227333937, 0.027400569195341905, -0.02713486752826803], "std": [0.28148715210510317, 0.5825482315953706, 0.0009219458332324583, 0.0, 0.0, 0.03838361493608901, 0.0012783961294850492, 0.1608561394893558, 0.05761960404213944, 0.1364766681552488, 0.8625211561066322, 0.13775847519240153, 0.3228804097634381, 0.03388232562111254, 0.012393881184326331, 0.012825797646657833], "count": [1849]}, "action": {"min": [-1.0, -1.0, -0.16, 0.0, -1.0, -1.0, -0.8857142857142857, -1.0, -0.21142857142857144, -0.36, -0.27714285714285714, -1.0], "max": [1.0, 1.0, 0.30857142857142855, 0.0, 1.0, 0.8285714285714285, 0.6500000000000001, 1.0, 0.2714285714285714, 0.52, 0.54, 1.0], "mean": [0.006235030518426958, 0.027346828401452535, -0.001015220582554277, 0.0, -0.3207138994050838, -0.0008846480723170914, -0.010963455149501668, -0.009615236034922356, -6.335470910917114e-05, -0.001307270339179476, -0.000769527930155293, -0.027582477014602487], "std": [0.38488523123258284, 0.33654028573270456, 0.04195083584932219, 0.0, 0.9471761160039803, 0.3944192090412872, 0.14272612395687037, 0.31123311537978454, 0.03462107043320563, 0.06999812889039574, 0.07145220566368383, 0.999619531102572], "count": [1849]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008653325960040092], "std": [0.0926198959350586], "count": [1849]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005408328826392645], "std": [0.023249524348517767], "count": [1849]}, "timestamp": {"min": [0.0], "max": [92.4], "mean": [46.2], "std": [26.688012290165037], "count": [1849]}, "frame_index": {"min": [0], "max": [1848], "mean": [924.0], "std": [533.7602458033007], "count": [1849]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [1849]}, "index": {"min": [163138], "max": [164986], "mean": [164062.0], "std": [533.7602458033007], "count": [1849]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1849]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5649948924106909]], [[0.5372018562219764]], [[0.5225512310758686]]], "std": [[[0.1952317432081003]], [[0.2080059050177102]], [[0.22159325101539235]]], "count": [211]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5274297542127133]], [[0.48024252544226187]], [[0.4473240975985329]]], "std": [[[0.23901512804071975]], [[0.2523047567529946]], [[0.2722115238094986]]], "count": [211]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5371062872257167]], [[0.49512159739071504]], [[0.4664942966585609]]], "std": [[[0.23625396914288857]], [[0.24930281846520155]], [[0.2682971943944722]]], "count": [211]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1257]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1257]}, "observation.state": {"min": [4.3645747097862895, -1.5752216839954478, 0.6999953743874664, 0.0, 0.0, 0.6577595472335815, 0.6968696713447571, 0.04481335759783045, -0.16663839880312548, 0.272233634883967, -0.993658721446991, -0.22780755162239075, -0.5271818041801453, 0.00011871843889821321, 0.013006765493643987, -0.040089631452926565], "max": [6.2043732127264795, -0.8098079533643163, 0.7021215770352687, 0.0, 0.0, 0.7171977758407593, 0.7532278895378113, 0.6276026288174135, 0.10262828004737923, 0.7744866478761433, 0.9787221550941467, 0.2080460786819458, 0.5176002383232117, 0.06991720199584961, 0.04000862770855162, -0.012722881715145313], "mean": [5.421886874475435, -1.109712660433868, 0.701106080998268, 0.0, 0.0, 0.693908304805877, 0.7198186541893412, 0.2597957128814663, -0.022461565400240004, 0.5635798667892508, -0.02553298322568361, 0.00986707853649757, 0.004398828824313747, 0.02780578848854461, 0.029358212843999438, -0.027534945479158978], "std": [0.7315376891506546, 0.23491386772595418, 0.0005220213213559044, 0.0, 0.0, 0.013573620859452924, 0.01296640736480232, 0.14758195718481232, 0.03796162782800215, 0.13222200482761765, 0.9318587508998124, 0.0786482010387058, 0.35151293231879316, 0.018723921857244582, 0.010443789494349673, 0.011610587386241614], "count": [1257]}, "action": {"min": [-1.0, -1.0, -0.14857142857142858, 0.0, -1.0, -1.0, -0.7071428571428572, -1.0, -0.13428571428571429, -0.5971428571428572, -0.2, -1.0], "max": [1.0, 1.0, 0.14285714285714285, 0.0, 1.0, 1.0, 0.8357142857142857, 1.0, 0.2142857142857143, 0.3628571428571429, 0.23428571428571432, 1.0], "mean": [0.007284918740765983, 0.03700420502329812, -0.0024684623252642346, 0.0, -0.17899761336515513, -0.007364473235594953, -0.013370837595181274, -0.008489601091033092, 0.00015229003295829047, 0.0008137288328219104, -9.54653937947473e-05, 0.011933174224343675], "std": [0.4024228543080329, 0.4862683444646782, 0.027858795090329413, 0.0, 0.9838495080090096, 0.5134123905859113, 0.1478047627671452, 0.4000593730307148, 0.026121515443521346, 0.09819543132094151, 0.037675773096505424, 0.9999287971415356], "count": [1257]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012728719040751457], "std": [0.11210129410028458], "count": [1257]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007955449482895784], "std": [0.028194184799792125], "count": [1257]}, "timestamp": {"min": [0.0], "max": [62.8], "mean": [31.400000000000002], "std": [18.143226467931957], "count": [1257]}, "frame_index": {"min": [0], "max": [1256], "mean": [628.0], "std": [362.8645293586391], "count": [1257]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [1257]}, "index": {"min": [164987], "max": [166243], "mean": [165615.0], "std": [362.8645293586391], "count": [1257]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1257]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5988227760067575]], [[0.523143762613403]], [[0.45996333147660845]]], "std": [[[0.18981939120898678]], [[0.18408513698317125]], [[0.21521861530639932]]], "count": [407]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6618078911149985]], [[0.5624000697442147]], [[0.46558270881462804]]], "std": [[[0.19617091533760211]], [[0.19626182154059235]], [[0.23690566135911453]]], "count": [407]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6433027386269071]], [[0.5491812642635899]], [[0.46154045600815763]]], "std": [[[0.21155445167141607]], [[0.20179444812790992]], [[0.2378549171006224]]], "count": [407]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [3020]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [3020]}, "observation.state": {"min": [0.7946302457498851, -3.5427628580023796, 0.6999977740764093, 0.0, 0.0, -1.0, 8.445649513078024e-08, -0.06132318563655037, -0.134486426132582, 0.2603842364737231, -0.990888774394989, -0.22213327884674072, -0.5136685967445374, 0.00010633708734530956, 0.008949543321222322, -0.04008536572633485], "max": [3.940278616004446, -1.0126225048861002, 0.7025938492566072, 0.0, 0.0, 1.0, 0.1278342455625534, 0.6297376116212535, 0.15160239633985517, 0.7940485363171618, 0.9664707779884338, 0.1866244077682495, 0.4773869514465332, 0.10480878502130508, 0.04009221956181226, -0.009223122398345822], "mean": [1.8674281936555883, -2.255432677638235, 0.701410096636306, 0.0, 0.0, 0.6705098056437954, 0.03715303945261669, 0.14175907883597036, -0.015417455118261822, 0.5942022626623753, -0.2395615592500232, 0.0038216532016826783, -0.056125724621561186, 0.03105269725903709, 0.027372192304055826, -0.02715374028092615], "std": [1.1096302485941065, 0.8668947861302866, 0.0006645940728597156, 0.0, 0.0, 0.7404228586271275, 0.028465099160690528, 0.1800088482947957, 0.04686285297954864, 0.1170916871189019, 0.9142571662711083, 0.08853805041604033, 0.30729760602507017, 0.01855571254246848, 0.012291323384698667, 0.012113736100167747], "count": [3020]}, "action": {"min": [-1.0, -1.0, -0.4285714285714286, 0.0, -1.0, -1.0, -0.9, -1.0, -0.11714285714285716, -0.3628571428571429, -0.23428571428571432, -1.0], "max": [1.0, 1.0, 0.3142857142857143, 0.0, 1.0, 1.0, 0.5642857142857142, 1.0, 0.23714285714285716, 0.3142857142857143, 0.19142857142857142, 1.0], "mean": [0.015125354777672675, -0.013987701040681158, -0.0013330179754020802, 0.0, 0.1913907284768212, -0.0006669820245979048, -0.0026229895931882664, -0.006710028382213805, 0.0002630085146641437, -0.001578051087984864, 0.0002686849574266808, 0.059602649006622516], "std": [0.6181667304214968, 0.4376168726378196, 0.04937045550155005, 0.0, 0.981513927080559, 0.3641940093530706, 0.09920907609570336, 0.25862516595487034, 0.022429924771703108, 0.05392056482633003, 0.026628715811793158, 0.998222181796922], "count": [3020]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.005298013333231211], "std": [0.07259438931941986], "count": [3020]}, "next.done": {"min": [false], "max": [true], "mean": [0.00033112582781456954], "std": [0.018193850156047884], "count": [3020]}, "timestamp": {"min": [0.0], "max": [150.95], "mean": [75.475], "std": [43.58994293412186], "count": [3020]}, "frame_index": {"min": [0], "max": [3019], "mean": [1509.5], "std": [871.7988586824372], "count": [3020]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [3020]}, "index": {"min": [166244], "max": [169263], "mean": [167753.5], "std": [871.7988586824372], "count": [3020]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [3020]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5078229362437603]], [[0.49060550028697475]], [[0.476937157506115]]], "std": [[[0.22605828063022926]], [[0.21765331007787334]], [[0.20909732040757054]]], "count": [307]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5294191316496315]], [[0.5166337935610994]], [[0.4996044049053164]]], "std": [[[0.25513492841098395]], [[0.23408115056436243]], [[0.21747115949734433]]], "count": [307]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5102039345685662]], [[0.5017349883454311]], [[0.49036454571506305]]], "std": [[[0.2432380417838596]], [[0.22514176070723035]], [[0.21149296580618424]]], "count": [307]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2077]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2077]}, "observation.state": {"min": [0.6811148673731956, -2.3485389178742366, 0.6999977833747666, 0.0, 0.0, -1.0, 2.831499296007678e-05, -0.027240801905550338, -0.10405533749400031, 0.252822748099371, -0.9952384233474731, -0.34867340326309204, -0.5037787556648254, 1.6769057538112975e-06, 0.01137944249714216, -0.040388450102713955], "max": [3.0415113074576325, -1.4097768722666317, 0.7033431386566569, 0.0, 0.0, 1.0, 0.7067840695381165, 0.6192866450797745, 0.10491653989906968, 0.7467733957509723, 0.9937071800231934, 0.3346681594848633, 0.5460354089736938, 0.13111025094985962, 0.03999373373462975, -0.006886931218181325], "mean": [1.7543018673224036, -1.824328165841063, 0.7014503434559581, 0.0, 0.0, 0.006679754447753348, 0.3034472265403795, 0.22168755040537486, -0.006842927639669869, 0.5031602213750126, 0.21310649583359206, 0.03116598306694568, 0.07326667158396759, 0.029168232303226897, 0.028657160680701083, -0.030870600987327267], "std": [0.8782434186389815, 0.3130220609763573, 0.0010236804099681485, 0.0, 0.0, 0.906281304397561, 0.29415873234346274, 0.16025511569518863, 0.04398044430799404, 0.11784602380481973, 0.9225530044933893, 0.11096521137585544, 0.2875002048863617, 0.03635684586700186, 0.011331228137980813, 0.011046516063935946], "count": [2077]}, "action": {"min": [-1.0, -1.0, -0.5714285714285714, 0.0, -1.0, -1.0, -0.75, -1.0, -0.19714285714285715, -0.5857142857142857, -0.26857142857142857, -1.0], "max": [1.0, 1.0, 0.5971428571428572, 0.0, 1.0, 1.0, 0.8500000000000001, 1.0, 0.28285714285714286, 0.5257142857142857, 0.14, 1.0], "mean": [-0.010382419698741286, 0.005254831831625288, 0.01354976270720133, 0.0, -0.11218103033220991, -0.010836371139693239, 0.000925098012242931, -0.01254212806933076, -0.0013013274640621773, -0.0023550450512414872, -0.002335786505261711, 0.00048146364949446316], "std": [0.3839453328434377, 0.2802330289223837, 0.2036271682100635, 0.0, 0.9936877861952493, 0.39119914886987034, 0.1397038463688916, 0.27389173988649856, 0.0249489180091515, 0.07759542646210797, 0.034179619078490674, 0.9999998840963709], "count": [2077]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007703418377786875], "std": [0.08743040263652802], "count": [2077]}, "next.done": {"min": [false], "max": [true], "mean": [0.00048146364949446316], "std": [0.021936997111014957], "count": [2077]}, "timestamp": {"min": [0.0], "max": [103.8], "mean": [51.9], "std": [29.97890925300652], "count": [2077]}, "frame_index": {"min": [0], "max": [2076], "mean": [1038.0], "std": [599.5781850601304], "count": [2077]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [2077]}, "index": {"min": [169264], "max": [171340], "mean": [170302.0], "std": [599.5781850601304], "count": [2077]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [2077]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5130476567010561]], [[0.5039280192921384]], [[0.49805666710942753]]], "std": [[[0.2386891794401944]], [[0.24545493595993464]], [[0.2503161981769838]]], "count": [277]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4636963227620979]], [[0.4240281275767231]], [[0.4001440603802089]]], "std": [[[0.23663597532604508]], [[0.25493965780269845]], [[0.27363370195786046]]], "count": [277]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46497879400960096]], [[0.420813350983973]], [[0.394670792041821]]], "std": [[[0.21417153001578687]], [[0.23552608271982817]], [[0.2569415100082222]]], "count": [277]}, "annotation.human.task_description": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1806]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1806]}, "observation.state": {"min": [1.1547867603888289, -1.5564063798480516, 0.6999975204442552, 0.0, 0.0, 0.5827176570892334, 0.577991247177124, -0.049783660303570176, -0.057801164908617864, 0.2419813398203462, -0.9908636212348938, -0.2103843092918396, -0.4566890299320221, 0.0002797192137222737, 0.011638149194788882, -0.04000952983732938], "max": [3.381442509478365, -0.7748649237236943, 0.7020251966592321, 0.0, 0.0, 0.8160430192947388, 0.8126746416091919, 0.5886162305088218, 0.20286529397085395, 0.7154569178308751, 0.9889934062957764, 0.20812371373176575, 0.37739309668540955, 0.153241828083992, 0.040105252467124715, -0.007048111941861646], "mean": [1.963054832240624, -1.0944135863811162, 0.701019775607366, 0.0, 0.0, 0.7145427277977945, 0.6964424447561816, 0.20137675438631047, 0.040026652193109594, 0.571549809971281, -0.726896671922764, -0.030196778806275044, -0.23240902967924296, 0.05462372804457074, 0.029469330594609752, -0.029365136100704695], "std": [0.8731439563824073, 0.18746395861426166, 0.0005064200691867611, 0.0, 0.0, 0.046174870001190256, 0.047586635462308194, 0.19484793810078013, 0.05221083389711559, 0.1117268796251019, 0.60673583906503, 0.07375875440071859, 0.19652180917042564, 0.039014365302496884, 0.012085298794861117, 0.011689975695907222], "count": [1806]}, "action": {"min": [-1.0, -1.0, -0.5257142857142857, 0.0, -1.0, -1.0, -0.7214285714285715, -1.0, -0.12285714285714287, -0.38857142857142857, -0.20857142857142857, -1.0], "max": [1.0, 1.0, 0.41714285714285715, 0.0, 1.0, 0.8928571428571429, 0.5357142857142857, 1.0, 0.19714285714285715, 0.26, 0.38, 1.0], "mean": [0.022358012972630924, -0.013949533301692765, -0.00226546432526499, 0.0, -0.2823920265780731, -0.0010243632336655547, -0.002333491536149338, -0.009958867267837401, 0.0004129093497864273, -0.002319253282708437, -0.0004065812371460212, -0.17386489479512734], "std": [0.3124691510243313, 0.43426675683722865, 0.08301597216286469, 0.0, 0.9592990896092378, 0.45997345901043235, 0.12033357661598645, 0.31561187842252847, 0.023950408751766003, 0.06842645353042555, 0.04885325553985439, 0.9847695153475758], "count": [1806]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008859357796609402], "std": [0.09370630234479904], "count": [1806]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005537098560354374], "std": [0.023524524680230346], "count": [1806]}, "timestamp": {"min": [0.0], "max": [90.25], "mean": [45.125], "std": [26.067360657854614], "count": [1806]}, "frame_index": {"min": [0], "max": [1805], "mean": [902.5], "std": [521.3472131570924], "count": [1806]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [1806]}, "index": {"min": [171341], "max": [173146], "mean": [172243.5], "std": [521.3472131570924], "count": [1806]}, "task_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1806]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6156091521910753]], [[0.6100883489596488]], [[0.5923274800335285]]], "std": [[[0.22449978793831168]], [[0.21277310336503205]], [[0.22746665650005338]]], "count": [262]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5546801099590227]], [[0.5597461444070785]], [[0.5580026396768676]]], "std": [[[0.2775697826980602]], [[0.26488837252624065]], [[0.2635272969518185]]], "count": [262]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5373141622921607]], [[0.5520328516589722]], [[0.5528595176254841]]], "std": [[[0.31008856232325294]], [[0.2844987352384042]], [[0.27946163315551253]]], "count": [262]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1681]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1681]}, "observation.state": {"min": [0.7646622784815829, -1.7030505865023953, 0.6999980143456075, 0.0, 0.0, -1.0, 8.75605081773756e-08, 0.014126542024280209, -0.045926237453844276, 0.2463414636603405, -0.9892390966415405, -0.4604802131652832, -0.5347408652305603, 1.7433152606827207e-05, 0.013375720364743092, -0.04055326925845334], "max": [2.002575919656556, -0.6696463257308508, 0.7031024534436519, 0.0, 0.0, 1.0, 0.10843983292579651, 0.6549832679486789, 0.24883721895230937, 0.7990242861758631, 0.9882898330688477, 0.18230006098747253, 0.5384262800216675, 0.2441658079624176, 0.040294244803234305, -0.013321377307652786], "mean": [1.1215692930169907, -1.1153371050242868, 0.7013590837506418, 0.0, 0.0, 0.8575541673849765, 0.03607475307175497, 0.2819879851811632, 0.049165508940579555, 0.5071149026238337, -0.10309254530992343, -0.0069623766982222085, -0.05497397085710482, 0.02876104161533378, 0.03366100055099195, -0.03368545650862207], "std": [0.317350333496227, 0.40983714410082916, 0.0008799186177471859, 0.0, 0.0, 0.5127133138524715, 0.020603967106403793, 0.16555664043383742, 0.06295470633474921, 0.12199133392950161, 0.9355780938426698, 0.10161102078933106, 0.31479191812835083, 0.027367747005173602, 0.008836465591962673, 0.008813530804111522], "count": [1681]}, "action": {"min": [-1.0, -1.0, -0.24285714285714288, 0.0, -1.0, -1.0, -0.8285714285714285, -0.8428571428571429, -0.33714285714285713, -0.40571428571428575, -0.26, -1.0], "max": [1.0, 1.0, 0.2885714285714286, 0.0, 1.0, 0.7357142857142858, 1.0, 1.0, 0.14, 0.35714285714285715, 0.4971428571428572, 1.0], "mean": [0.028873119741650365, 0.013299906518228958, -0.002362539304835556, 0.0, -0.3123140987507436, -0.008018186453641551, 0.006390753803008418, -0.021267102914931613, -0.0036814821109883563, -0.0024271267102914935, -0.0019920115577462425, -0.1386079714455681], "std": [0.4381638045442081, 0.31409221993147995, 0.039831537387813615, 0.0, 0.9499788964611465, 0.3820459679416497, 0.17137317832559357, 0.30770314488091055, 0.03990330969412407, 0.06549317563071773, 0.06257618074417594, 0.9903473280883598], "count": [1681]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009518143720924854], "std": [0.09709557145833969], "count": [1681]}, "next.done": {"min": [false], "max": [true], "mean": [0.000594883997620464], "std": [0.024382988140296488], "count": [1681]}, "timestamp": {"min": [0.0], "max": [84.0], "mean": [42.0], "std": [24.26314076948819], "count": [1681]}, "frame_index": {"min": [0], "max": [1680], "mean": [840.0], "std": [485.26281538976383], "count": [1681]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1681]}, "index": {"min": [173147], "max": [174827], "mean": [173987.0], "std": [485.26281538976383], "count": [1681]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1681]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5219432416881649]], [[0.5046082416020647]], [[0.43208836497105246]]], "std": [[[0.16720509526928773]], [[0.1969144791295299]], [[0.16514370318974886]]], "count": [427]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5774647056648606]], [[0.5315406455631049]], [[0.4863774599995928]]], "std": [[[0.19274996224628127]], [[0.18069289534089064]], [[0.18611647916097485]]], "count": [427]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5432451243176574]], [[0.510041576104699]], [[0.4747928362759358]]], "std": [[[0.20024433585153534]], [[0.18863271804498136]], [[0.18951450581809526]]], "count": [427]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [3223]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [3223]}, "observation.state": {"min": [0.7634186944062413, -3.486181409659857, 0.6999946642224253, 0.0, 0.0, -1.0, 7.762637466157685e-08, -0.021516268058833443, -0.22741960598659494, 0.25833825786785725, -0.9943341612815857, -0.2612672448158264, -0.4465940296649933, 3.380293037480442e-06, 0.007936869489487674, -0.04129095393032813], "max": [3.984820418396438, -0.9749540571399021, 0.7083209336631735, 0.0, 0.0, 1.0, 0.24864605069160461, 0.7219119128016969, 0.029716186087309415, 0.7765633211065577, 0.995046854019165, 0.23686856031417847, 0.5916259288787842, 0.14965274930000305, 0.04161464568311964, -0.007888272252418352], "mean": [1.9264056463892147, -2.348978692149506, 0.7030888572282117, 0.0, 0.0, 0.5025976462242879, 0.061335538521147946, 0.1861114304326913, -0.04243858683687104, 0.536546992425969, 0.3711279177014738, 0.014127501735323303, 0.11437049554241922, 0.04779713436163681, 0.03225633645911539, -0.032837691526116604], "std": [1.1489821577858634, 0.8563159117669473, 0.00229351249263072, 0.0, 0.0, 0.861056547235126, 0.04706579963703196, 0.19382604712595708, 0.048043351772210044, 0.11679205316683897, 0.8794742537624727, 0.08662198867512237, 0.25289750719251247, 0.04199791182266368, 0.010271038598826332, 0.010521589579547993], "count": [3223]}, "action": {"min": [-1.0, -1.0, -0.4285714285714286, 0.0, -1.0, -1.0, -0.7428571428571429, -1.0, -0.12571428571428572, -0.6771428571428572, -0.22285714285714286, -1.0], "max": [1.0, 1.0, 0.3314285714285714, 0.0, 1.0, 0.95, 0.9928571428571428, 1.0, 0.22285714285714286, 0.35714285714285715, 0.4114285714285714, 1.0], "mean": [0.01981073533974559, -0.03167191170604144, 0.0010637826337485026, 0.0, 0.15048091839900712, -0.004760427286024553, 0.0008111342582332342, -0.0297282921856301, 0.0005212534905367672, -0.0025513053499401626, -0.00032090776118079623, -0.007136208501396215], "std": [0.6004982652038784, 0.4275594507893032, 0.059368585992523676, 0.0, 0.9886129137320462, 0.3595375688631617, 0.1346670757704259, 0.2599823237668454, 0.019697042841394122, 0.07084506257057471, 0.03997191834333824, 0.9999745369399528], "count": [3223]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.004964319057762623], "std": [0.07028281688690186], "count": [3223]}, "next.done": {"min": [false], "max": [true], "mean": [0.00031026993484331366], "std": [0.01761174799418973], "count": [3223]}, "timestamp": {"min": [0.0], "max": [161.1], "mean": [80.55], "std": [46.519995700773656], "count": [3223]}, "frame_index": {"min": [0], "max": [3222], "mean": [1611.0], "std": [930.3999140154732], "count": [3223]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [3223]}, "index": {"min": [174828], "max": [178050], "mean": [176439.0], "std": [930.3999140154732], "count": [3223]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [3223]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5870802549265641]], [[0.57862651631868]], [[0.5686103639894025]]], "std": [[[0.20879895187941305]], [[0.22001471159319877]], [[0.22937428323241732]]], "count": [172]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5395623370169288]], [[0.5413224466848309]], [[0.5375922109566483]]], "std": [[[0.21136005912181613]], [[0.2041675505870759]], [[0.1966705867704459]]], "count": [172]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5246102224785717]], [[0.5278742503641515]], [[0.5260241907261519]]], "std": [[[0.2163031310215748]], [[0.20956107982142247]], [[0.2053213489628573]]], "count": [172]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [959]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [959]}, "observation.state": {"min": [3.187192645790578, -1.481623279168728, 0.6999922466184003, 0.0, 0.0, 0.5677987933158875, 0.69228196144104, -0.009711762123295782, -0.19594819221739446, 0.2596603780636437, -0.9999176263809204, -0.2819792628288269, -0.5616058707237244, 0.00010892927093664184, 0.018320720530121477, -0.04043885540009998], "max": [4.4082116269956355, -0.7853989510112742, 0.7007418794893614, 0.0, 0.0, 0.7216271162033081, 0.8231673836708069, 0.5592645621813586, 0.1870393170900697, 0.7494388329842285, 0.9997650980949402, 0.31970638036727905, 0.4997504949569702, 0.12904460728168488, 0.040151625682892475, -0.019259087216860434], "mean": [3.9484947519601996, -1.0499847697654479, 0.7001417819402259, 0.0, 0.0, 0.6536768060158142, 0.7553084786045166, 0.3103818333935458, 0.0030077010951221916, 0.5550722525515219, 0.12639214224313172, -0.025430699902643936, -0.003462324108553582, 0.03207534063974272, 0.03444969955516583, -0.03379801255111223], "std": [0.45701233968073646, 0.16958837269123386, 0.0001682649962279977, 0.0, 0.0, 0.03527471121445692, 0.0311677363985532, 0.11837350617538128, 0.08177503906482658, 0.12985795865004138, 0.9279506440819316, 0.12623295706020432, 0.32358151156779624, 0.024603612583945392, 0.007406486514927055, 0.007241841872616708], "count": [959]}, "action": {"min": [-1.0, -1.0, -0.5685714285714286, 0.0, -1.0, -1.0, -1.0, -1.0, -0.35428571428571426, -0.6628571428571428, -0.3, -1.0], "max": [1.0, 1.0, 0.5457142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6171428571428571, 0.6628571428571428, 0.5314285714285715, 1.0], "mean": [0.03524504692387903, 0.026061373454491284, -0.005523610904215703, 0.0, -0.38477580813347234, -0.0015864740056606198, -0.005183971398778495, 0.00791002532399819, 0.003050796961120213, -0.006664680470728439, 0.0007716371220020852, -0.205422314911366], "std": [0.44345145326676694, 0.43647478129268436, 0.0946942891433654, 0.0, 0.9230100635828673, 0.5653337490743089, 0.2242078066680593, 0.4667478139365407, 0.08675963161330026, 0.16547100930531758, 0.08829932066052949, 0.9786734248647299], "count": [959]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016684046015143394], "std": [0.1280846893787384], "count": [959]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010427528675703858], "std": [0.03227484367162078], "count": [959]}, "timestamp": {"min": [0.0], "max": [47.9], "mean": [23.95], "std": [13.841965178398622], "count": [959]}, "frame_index": {"min": [0], "max": [958], "mean": [479.0], "std": [276.8393035679724], "count": [959]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [959]}, "index": {"min": [178051], "max": [179009], "mean": [178530.0], "std": [276.8393035679724], "count": [959]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [959]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6237258961888589]], [[0.5981056619425114]], [[0.5926959328958634]]], "std": [[[0.25693979939111167]], [[0.270276340397214]], [[0.27318459091970515]]], "count": [224]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.584996104574337]], [[0.574150537709896]], [[0.5718914892159256]]], "std": [[[0.23742197313591187]], [[0.24437769935334486]], [[0.24552940990443156]]], "count": [224]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5639666885888878]], [[0.5546201468181877]], [[0.5521998848901744]]], "std": [[[0.23939173535897823]], [[0.24469263029752572]], [[0.2457560021731662]]], "count": [224]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1368]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1368]}, "observation.state": {"min": [1.9185995349413973, -2.392592188548054, 0.6999964886108189, 0.0, 0.0, -0.12070973962545395, 0.7069900035858154, -0.03583048635427555, -0.09900250091737117, 0.2550130344075444, -0.990124523639679, -0.3005996346473694, -0.46898600459098816, 8.711226837476715e-05, 0.016424778429097994, -0.04009963763997286], "max": [3.3952790631948537, -1.0333371828837232, 0.7009427328357793, 0.0, 0.0, 0.7072235941886902, 0.9999998807907104, 0.6353733092831956, 0.392596981038726, 0.7660162081228494, 0.9943842887878418, 0.40330952405929565, 0.6432043313980103, 0.18970204889774323, 0.0402067611307167, -0.012930695183200482], "mean": [2.6044800170958595, -1.5491397910596292, 0.7004089688872193, 0.0, 0.0, 0.3070194038930487, 0.8968730004645927, 0.20048427564236027, 0.14753084469780336, 0.5196881112966755, -0.5911832656166707, 0.08216844415782314, -0.1434536251492733, 0.08325857814716127, 0.0337279827093771, -0.03189771146706693], "std": [0.4815712349534366, 0.4556066459230183, 0.000351064582246099, 0.0, 0.0, 0.3000632107459997, 0.10639539868378532, 0.16922320961825713, 0.10237899447459153, 0.1135650492930677, 0.7411380067543797, 0.14894411546506486, 0.20371618284892948, 0.057180289840918594, 0.007581572834864681, 0.00849807493656754], "count": [1368]}, "action": {"min": [-1.0, -1.0, -0.8714285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4914285714285715, -0.66, -0.3171428571428571, -1.0], "max": [1.0, 1.0, 0.8085714285714286, 0.0, 1.0, 1.0, 0.942857142857143, 1.0, 0.38285714285714284, 0.4371428571428572, 0.6685714285714286, 1.0], "mean": [0.0893483709273183, 0.012280701754385965, -0.013588137009189647, 0.0, -0.1286549707602339, -0.0011382623224728357, 0.00878237259816209, 0.008072263993316635, -0.0006850459482038459, -0.00805346700083542, -0.0002965747702589797, -0.04824561403508772], "std": [0.580285369083334, 0.3579029198463558, 0.27981815627317647, 0.0, 0.9916894163490442, 0.5145159570961727, 0.21340688686700507, 0.41699382247504996, 0.07972785180857918, 0.11718388346047866, 0.08811275515858595, 0.9988355023357833], "count": [1368]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011695906519889832], "std": [0.10751330852508545], "count": [1368]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007309941520467836], "std": [0.027027019806047006], "count": [1368]}, "timestamp": {"min": [0.0], "max": [68.35], "mean": [34.175], "std": [19.745373930788617], "count": [1368]}, "frame_index": {"min": [0], "max": [1367], "mean": [683.5], "std": [394.9074786157723], "count": [1368]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1368]}, "index": {"min": [179010], "max": [180377], "mean": [179693.5], "std": [394.9074786157723], "count": [1368]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1368]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.567145764309858]], [[0.5528732305090764]], [[0.5240976622634409]]], "std": [[[0.1836661695930681]], [[0.1854587358870473]], [[0.2047909083666093]]], "count": [283]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.058823529411764705]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5505685932479496]], [[0.5272596146884798]], [[0.509342245988536]]], "std": [[[0.20912691445031423]], [[0.2109264328195395]], [[0.21172745189155404]]], "count": [283]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5339910286904901]], [[0.5124353250627631]], [[0.49623469245216584]]], "std": [[[0.19910956155119627]], [[0.2009292284075174]], [[0.20185110947149712]]], "count": [283]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1863]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1863]}, "observation.state": {"min": [4.883957157209238, -2.815645848652365, 0.6999976732648006, 0.0, 0.0, -0.054983146488666534, 0.9967094659805298, -0.06832881918522205, -0.18361148422879736, 0.25083990375148646, -0.986677885055542, -0.4893074035644531, -0.5276007056236267, 0.0001312784879701212, 0.01271726560031239, -0.040092379571806884], "max": [5.915575137668661, -1.0623710821635293, 0.7013645411244382, 0.0, 0.0, 0.08105658739805222, 1.0, 0.6552149009813482, 0.05344905629390728, 0.7692714572130986, 0.9984597563743591, 0.39084216952323914, 0.5035797953605652, 0.11931814253330231, 0.040178557635258585, -0.012855193629726269], "mean": [5.590251527149123, -2.0254376583676383, 0.7006382494830852, 0.0, 0.0, 0.004611796258805106, 0.9996748598941346, 0.22686487721483448, -0.03702954075614691, 0.5944973654280497, 0.27625323663267215, -0.01822368784443192, 0.06771131365041531, 0.03590274071794551, 0.030797117805621752, -0.030612488587026747], "std": [0.30110013142968806, 0.7037948345039783, 0.0003837172328864107, 0.0, 0.0, 0.02507438887036494, 0.0004517983064481346, 0.1938101545488038, 0.045732998571008786, 0.14101577605781104, 0.8788093348170478, 0.10702691983286457, 0.3646994344910646, 0.02668208410964999, 0.011054533542687551, 0.011006508441464535], "count": [1863]}, "action": {"min": [-1.0, -1.0, -0.2571428571428571, 0.0, -1.0, -1.0, -1.0, -0.95, -0.1457142857142857, -0.46857142857142864, -0.3514285714285714, -1.0], "max": [1.0, 1.0, 0.3628571428571429, 0.0, 1.0, 0.8428571428571429, 0.7642857142857143, 1.0, 0.22, 0.38857142857142857, 0.40857142857142864, 1.0], "mean": [0.008799171842650106, 0.026493367073077263, -0.0007928839812897775, 0.0, -0.2871712292002147, 0.0013380875699716569, -0.008806839966260256, -0.023583314163024283, 0.0031930066712675415, -0.007890499194847007, -0.0008511617207269397, -0.09608158883521202], "std": [0.3914804924492229, 0.39762901089018754, 0.04683296555520332, 0.0, 0.9578792643750398, 0.447410540944083, 0.15851200471199153, 0.3390966510327082, 0.031670528296961986, 0.09138428168630801, 0.05760923330248213, 0.995373461715208], "count": [1863]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008588298223912716], "std": [0.0922742486000061], "count": [1863]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005367686527106817], "std": [0.023162049393871623], "count": [1863]}, "timestamp": {"min": [0.0], "max": [93.1], "mean": [46.55], "std": [26.890084913712464], "count": [1863]}, "frame_index": {"min": [0], "max": [1862], "mean": [931.0], "std": [537.8016982742492], "count": [1863]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [1863]}, "index": {"min": [180378], "max": [182240], "mean": [181309.0], "std": [537.8016982742492], "count": [1863]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1863]}}} diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/info.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..a835c123bc8a42195407e08a0958710cf76c86a1 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 102, + "total_frames": 182241, + "total_tasks": 42, + "total_videos": 306, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:102" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/modality.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/stats.json b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d4f9e79cf76536ebab1f045b28d26f38a79f2c0e --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 18.231693267822266 + ], + "std": [ + 12.046407699584961 + ], + "min": [ + 0.0 + ], + "max": [ + 41.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 41.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 42.0 + ], + "std": [ + 0.0 + ], + "min": [ + 42.0 + ], + "max": [ + 42.0 + ], + "q01": [ + 42.0 + ], + "q99": [ + 42.0 + ] + }, + "observation.state": { + "mean": [ + 2.6849331855773926, + -2.294701099395752, + 0.7023745179176331, + 0.0, + 0.0, + 0.1916341632604599, + 0.6170080304145813, + 0.21748118102550507, + -0.016134094446897507, + 0.5638687610626221, + 0.008488097228109837, + 0.01276372466236353, + 0.006148118060082197, + 0.04245319217443466, + 0.03190590441226959, + -0.03181576356291771 + ], + "std": [ + 1.6048672199249268, + 1.2944667339324951, + 0.00192870176397264, + 0.0, + 0.0, + 0.666681706905365, + 0.3718322515487671, + 0.1899099498987198, + 0.08106760680675507, + 0.13545282185077667, + 0.9309160709381104, + 0.13192015886306763, + 0.335012823343277, + 0.040622860193252563, + 0.009941873140633106, + 0.010041368193924427 + ], + "min": [ + -1.4638923406600952, + -6.6591477394104, + 0.6998918652534485, + 0.0, + 0.0, + -1.0, + 0.0, + -0.21384266018867493, + -0.3949834108352661, + 0.22908617556095123, + -0.9999176263809204, + -0.6119720339775085, + -0.8592910766601562, + 4.431120714798453e-07, + -0.0015995966969057918, + -0.042371656745672226 + ], + "max": [ + 6.226279258728027, + 0.7572364211082458, + 0.7117033004760742, + 0.0, + 0.0, + 1.0, + 1.0, + 0.8730736374855042, + 0.5710822343826294, + 0.8617646098136902, + 0.9997650980949402, + 0.621715784072876, + 0.7468284368515015, + 0.3983171582221985, + 0.042014557868242264, + 0.0019470325205475092 + ], + "q01": [ + 0.4307992160320282, + -4.744843006134033, + 0.6999984383583069, + 0.0, + 0.0, + -1.0, + 3.308905434096232e-05, + -0.09752067923545837, + -0.21462176740169525, + 0.2655985653400421, + -0.9896351099014282, + -0.311602383852005, + -0.5145987868309021, + 0.0005784021341241896, + 0.00845398474484682, + -0.040089886635541916 + ], + "q99": [ + 6.03161096572876, + -0.41370266675949097, + 0.7083032727241516, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6576136946678162, + 0.22629234194755554, + 0.7998095154762268, + 0.9915703535079956, + 0.39271339774131775, + 0.5537313222885132, + 0.19036729633808136, + 0.04008227586746216, + -0.008841939270496368 + ] + }, + "action": { + "mean": [ + 0.03836626186966896, + 0.008934148587286472, + -0.0062171039171516895, + 0.0, + -0.20644640922546387, + -0.0030454162042587996, + -0.0019944128580391407, + -0.017491089180111885, + -0.0004690359637606889, + -0.0036362805403769016, + -0.0005886934231966734, + -0.0545596219599247 + ], + "std": [ + 0.43513432145118713, + 0.3792262077331543, + 0.15658922493457794, + 0.0, + 0.9781270623207092, + 0.45448368787765503, + 0.15909989178180695, + 0.3462674021720886, + 0.03989359363913536, + 0.09227517992258072, + 0.05366606265306473, + 0.9976354241371155 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.49142858386039734, + -0.9028571248054504, + -0.5914285778999329, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.7085714340209961, + 1.0, + 0.7857142686843872, + 1.0 + ], + "q01": [ + -1.0, + -1.0, + -0.6085714101791382, + 0.0, + -1.0, + -1.0, + -0.5928571224212646, + -0.9214285612106323, + -0.13428571820259094, + -0.3514285683631897, + -0.17428570985794067, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 0.5714285969734192, + 0.0, + 1.0, + 0.9142857193946838, + 0.5357142686843872, + 1.0, + 0.1485714316368103, + 0.2685714364051819, + 0.1971428543329239, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.009520360268652439 + ], + "std": [ + 0.09710676223039627 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "next.done": { + "mean": [ + 0.0005596984410658479 + ], + "std": [ + 0.023651322349905968 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 46.75996017456055 + ], + "std": [ + 29.611125946044922 + ], + "min": [ + 0.0 + ], + "max": [ + 161.10000610351562 + ], + "q01": [ + 0.8500000238418579 + ], + "q99": [ + 124.3304672241211 + ] + }, + "frame_index": { + "mean": [ + 935.1990966796875 + ], + "std": [ + 592.2225341796875 + ], + "min": [ + 0.0 + ], + "max": [ + 3222.0 + ], + "q01": [ + 17.0 + ], + "q99": [ + 2486.609375 + ] + }, + "episode_index": { + "mean": [ + 50.919891357421875 + ], + "std": [ + 29.241594314575195 + ], + "min": [ + 0.0 + ], + "max": [ + 101.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 101.0 + ] + }, + "index": { + "mean": [ + 91120.0 + ], + "std": [ + 52608.4453125 + ], + "min": [ + 0.0 + ], + "max": [ + 182240.0 + ], + "q01": [ + 1822.39990234375 + ], + "q99": [ + 180417.609375 + ] + }, + "task_index": { + "mean": [ + 18.231693267822266 + ], + "std": [ + 12.046407699584961 + ], + "min": [ + 0.0 + ], + "max": [ + 41.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 41.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/tasks.jsonl b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d78f525db5bd94cdbaa7fa11a0752eed0edc91bd --- /dev/null +++ b/pretrain/composite/PackIdenticalLunches/20250805/lerobot/meta/tasks.jsonl @@ -0,0 +1,43 @@ +{"task_index": 0, "task": "Place one corn and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 1, "task": "Place one lemon and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 2, "task": "Place one squash and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 3, "task": "Place one eggplant and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 4, "task": "Place one carrot and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 5, "task": "Place one lemon and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 6, "task": "Place one onion and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 7, "task": "Place one garlic and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 8, "task": "Place one mushroom and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 9, "task": "Place one cucumber and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 10, "task": "Place one eggplant and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 11, "task": "Place one mushroom and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 12, "task": "Place one lemon and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 13, "task": "Place one carrot and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 14, "task": "Place one tomato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 15, "task": "Place one garlic and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 16, "task": "Place one tomato and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 17, "task": "Place one avocado and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 18, "task": "Place one lemon wedge and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 19, "task": "Place one sweet potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 20, "task": "Place one lime and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 21, "task": "Place one squash and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 22, "task": "Place one corn and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 23, "task": "Place one corn and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 24, "task": "Place one onion and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 25, "task": "Place one bell pepper and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 26, "task": "Place one cucumber and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 27, "task": "Place one potato and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 28, "task": "Place one eggplant and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 29, "task": "Place one potato and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 30, "task": "Place one broccoli and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 31, "task": "Place one carrot and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 32, "task": "Place one lime and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 33, "task": "Place one bell pepper and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 34, "task": "Place one sweet potato and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 35, "task": "Place one broccoli and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 36, "task": "Place one lemon wedge and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 37, "task": "Place one onion and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 38, "task": "Place one tomato and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 39, "task": "Place one lime and one steak in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 40, "task": "Place one mushroom and one fish in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 41, "task": "Place one broccoli and one chicken drumstick in each tupperware on the nearby counter, to pack two identical lunches."} +{"task_index": 42, "task": "PackIdenticalLunches"} diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/dataset_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d305f69809e2da52616d779ee0c6f9626a2f3d3c --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "8-11-2025", + "env": "StoreLeftoversByType", + "env_args": { + "type": 1, + "env_name": "StoreLeftoversByType", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "StoreLeftoversByType", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "StoreLeftoversByType", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "19:25:20", + "total": 121502 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccc2cf6ecab5222a6a5ead69894950872e1464d0 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,642 @@ +{ + "layout_id": 26, + "style_id": 57, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.666000004720821, + 0.6 + ], + "offset": [ + -0.1609999976395895, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.052865963819999987, + 0.08099999999999999, + 0.052313077259999986 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and onion to the fridge. Place the chicken drumstick on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.298657505730909, + -3.2835985397718024, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28738220392bce3df2e5d50f18bcb162e61048d4 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 55, + "style_id": 21, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.5305872589961047, + 1.16985 + ], + "offset": [ + 0.33041187050194765, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.756634755979873, + 1.16985 + ], + "offset": [ + -0.21738812201006352, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.001492269213273223, + 0.10767671162184726, + 0.21052621409004907 + ], + "size": [ + 0.6511931773551548, + 0.5246483271715515 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + 4.011443266541126e-05, + 0.10767671162184726, + 0.5259250500780068 + ], + "size": [ + 0.6742557497377784, + 0.5246483271715515 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and lemon to the fridge. Place the chicken drumstick on the rack containing meat and place the lemon on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.465189828965569, + -4.014891219933031, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b105ed7e1fc79fe2ea1a1cdbfcf2f7fb422e792b --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 44, + "style_id": 24, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + -0.18449748789877732, + 0.1504713687731577, + 0.20975775030992314 + ], + "size": [ + 0.4145411366001111, + 0.39914873020115793 + ], + "name": "fridge_shelf3" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.18474779954104448, + 0.1500311741612339, + 0.5201925002429608 + ], + "size": [ + 0.41111786047840115, + 0.39778576711082236 + ], + "name": "fridge_shelf4" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and lemon wedge to the fridge. Place the chicken drumstick on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6994016729327908, + -4.411751089641791, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad850de32d7d1834359da71c4e90ea54b92bc4b1 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,701 @@ +{ + "layout_id": 49, + "style_id": 21, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.8080829091527146, + 0.580711 + ], + "offset": [ + -0.6002675454236428, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and squash to the fridge. Place the steak on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_4_room", + "stool2": "stool_3_room", + "dining_counter": "counter_5_front_group_1", + "fridge": "fridgefrenchdoor_left_group_2", + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6341213285009148, + -6.484545596200989, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853830286373852 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..30a90edbf0d403a0710bfecf40aa487e816b7c1e --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,653 @@ +{ + "layout_id": 28, + "style_id": 32, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 3.470999955589244, + 0.406 + ], + "offset": [ + 0.133000022205378, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.022108, + 0.06904, + 0.037036 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and mushroom to the fridge. Place the chicken drumstick on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_right_group", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.148416519162685, + -3.3190963235157276, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e30f0d8774ceb58bfef7c43c525191b1f944a48 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,622 @@ +{ + "layout_id": 30, + "style_id": 45, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and tomato to the fridge. Place the chicken drumstick on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group", + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.998025377656655, + -4.362243095663325, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b66f982b819cf4eefb46426023ef88efce8210a2 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 35, + "style_id": 30, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and sweet potato to the fridge. Place the fish on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.2606246056004515, + -2.186172650896784, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a605057d0fd369c6c642f4adc81d4bb4edc4b543 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 28, + "style_id": 38, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 3.470999955589244, + 0.406 + ], + "offset": [ + 0.133000022205378, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012996142150343004, + 0.10221623225815374, + 0.134664186749225 + ], + "size": [ + 0.6287293436356116, + 0.5393923430638217 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and cucumber to the fridge. Place the chicken drumstick on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_right_group", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.185604024607168, + -3.447557593527211, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77b1a15851236cae8f74a211e79b21e244ba2554 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,609 @@ +{ + "layout_id": 38, + "style_id": 12, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.16700009053417, + 1.079 + ], + "offset": [ + -0.38599995473291493, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and garlic to the fridge. Place the steak on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.732330584824976, + -4.620895894486724, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..457a52dcc5439efeed890108181261b0a53bb52b --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,630 @@ +{ + "layout_id": 53, + "style_id": 15, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.667270009342277, + 1.259164 + ], + "offset": [ + -0.4048369953288615, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.486819938928346 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and onion to the fridge. Place the chicken drumstick on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "dining_dining_area_group_1", + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_3_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0030096784263427, + -2.027892798106123, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283023098423885 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c11023305f0e5934c5e8fe5740afe02ef18949b --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,607 @@ +{ + "layout_id": 11, + "style_id": 59, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.003349205476827516, + 0.08611485155160532, + 0.23001125112024576 + ], + "size": [ + 0.6367794677104182, + 0.548573995662641 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.003349205476827516, + 0.08611485155160532, + 0.5386462690689253 + ], + "size": [ + 0.6367794677104182, + 0.548573995662641 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and garlic to the fridge. Place the steak on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "dining_counter": "dining_dining_group", + "fridge": "fridge_right_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.0021789903231912, + -1.9005110539037595, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 2.0281593271498366e-07 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6c35e874b68919cd5eb0a829824e820aaddeb0f --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,563 @@ +{ + "layout_id": 37, + "style_id": 25, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.37040003112081366, + 1.045 + ], + "offset": [ + 0.6250000155604067, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8795999688790477, + 0.44480186261331345 + ], + "offset": [ + 1.5560476018805502e-08, + 0.30009906869334324, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and broccoli to the fridge. Place the fish on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.150966946230206, + -2.783745898669175, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65614e8c8a1fc710f2c3fc7a00e676286b6d8588 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,622 @@ +{ + "layout_id": 30, + "style_id": 55, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and corn to the fridge. Place the steak on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group", + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.855181931391727, + -4.256530642652755, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8463adc72b2e8b5f96d5829c818f9626c6324284 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,642 @@ +{ + "layout_id": 26, + "style_id": 11, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.666000004720821, + 0.6 + ], + "offset": [ + -0.1609999976395895, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004448710707134762, + 0.07787020008084633, + 0.2687400063981569 + ], + "size": [ + 0.6491596245173747, + 0.5040113829419179 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.022108, + 0.06904, + 0.037036 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008234956404977734, + 0.07766792230766895, + 0.5616164387813524 + ], + "size": [ + 0.6516963579397972, + 0.5048786873635636 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and garlic to the fridge. Place the chicken drumstick on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.199691800223506, + -3.1628877195071574, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..391822dfdde73d840244911d8ddbf812bec8c77f --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 51, + "style_id": 36, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and onion to the fridge. Place the fish on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.495248794494314, + -4.5218420538813815, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853798290089208 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d097bb782ef4c61e85e0708b00e78efc2b772eb --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,582 @@ +{ + "layout_id": 44, + "style_id": 25, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + -0.18449748789877732, + 0.1504713687731577, + 0.20975775030992314 + ], + "size": [ + 0.4145411366001111, + 0.39914873020115793 + ], + "name": "fridge_shelf3" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.1109960355, + 0.125383608, + 0.0904473255 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lettuce", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce004/model.xml" + }, + "reset_region": { + "offset": [ + -0.18474779954104448, + 0.1500311741612339, + 0.5201925002429608 + ], + "size": [ + 0.41111786047840115, + 0.39778576711082236 + ], + "name": "fridge_shelf4" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and sweet potato to the fridge. Place the fish on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.622559302478225, + -4.57271029046337, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d0492a02ca39df5dc7f07bc1c3d6d3081ecab33 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 35, + "style_id": 23, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and squash to the fridge. Place the chicken drumstick on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.362642034281146, + -2.088427803892824, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..439393b03efd33e348227cf768985cd2c50af682 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,807 @@ +{ + "layout_id": 25, + "style_id": 49, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.741433322159727, + -5.6429144249009315, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963610234394 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87119e35343a00a14a2b6a7f5160d4faf0acaee5 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,560 @@ +{ + "layout_id": 37, + "style_id": 15, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.4603743918946648, + 1.045 + ], + "offset": [ + 0.6250000155604067, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7896256081051969, + 0.42099999999999993 + ], + "offset": [ + 1.5560476018805502e-08, + 0.31200000000000006, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.486819938928346 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07302815839999997, + 0.07999939919999997, + 0.07302816799999998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and lime to the fridge. Place the chicken drumstick on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.053196429183922, + -2.6984923687386932, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d9c081806c6fbe112525e360a27e6b32fb4d8934 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,644 @@ +{ + "layout_id": 31, + "style_id": 51, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403734, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7178327244654141, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.061604661799999974, + 0.10999999999999996, + 0.06543139019999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and garlic to the fridge. Place the chicken drumstick on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3387262442298216, + -4.362078170456975, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f39cbdb2705b95a6d164854f08992f3fa1e4c08e --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 31, + "style_id": 19, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.6004926717697336, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + -0.029114420068277302, + 0.08640798638914605, + 0.19509568666240945 + ], + "size": [ + 0.6322422275892445, + 0.5604642702202898 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07273767599999997, + 0.09999999999999996, + 0.07202737999999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.029145152982939876, + 0.08653084690922787, + 0.5007559583214952 + ], + "size": [ + 0.6321433579462283, + 0.5602185491801261 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and potato to the fridge. Place the steak on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3588905432419365, + -4.460636537657231, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f41c89b00ad16f5f3b898e380ca2af05fb20b0b --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 41, + "style_id": 13, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4650559999999997, + 1.299989 + ], + "offset": [ + 0.3150210000000002, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4751400000000006, + 1.299989 + ], + "offset": [ + -0.3099789999999998, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and squash to the fridge. Place the chicken drumstick on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_2", + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4917849906809217, + -3.997671312525321, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981633974483 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c134d24c9617f925f26d960d4373947f92e4ede2 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,653 @@ +{ + "layout_id": 51, + "style_id": 23, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.473067129599741, + -4.518480826035806, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853798290089208 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd00c837bbdef60787d21e221e722bc69c6cca2e --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,700 @@ +{ + "layout_id": 17, + "style_id": 22, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.03495, + 0.107888, + 0.044468 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and broccoli to the fridge. Place the steak on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7548707713196388, + -3.7314283368535324, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981459128913 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c8003e98749e36c5f0fbee73ef416b242080d89 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 41, + "style_id": 11, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4650559999999997, + 1.299989 + ], + "offset": [ + 0.3150210000000002, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.4751400000000006, + 1.299989 + ], + "offset": [ + -0.3099789999999998, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.022108, + 0.06904, + 0.037036 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and cucumber to the fridge. Place the steak on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_2", + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.566009074119997, + -4.038526837288734, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981633974483 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55b4b031fe22c48ab1581e90a17550b95419335a --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,695 @@ +{ + "layout_id": 15, + "style_id": 53, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.5463995002470721, + 1.47 + ], + "offset": [ + 0.6190000467904193, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7756004997529282, + 0.8550000000000001 + ], + "offset": [ + -0.04199995320958072, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5121051812545848 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.1889214189513369 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6025806529957287, + -2.9541043038461603, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40e06bffc4fb4186295cfd0c9dfc136bc77317c1 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 13, + "style_id": 42, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.486819938928346 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06901958700000001, + 0.07059185533460792, + 0.06406201096188076 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and carrot to the fridge. Place the chicken drumstick on the rack containing meat and place the carrot on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group_1", + "fridge": "fridge_1_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.5131911112770353, + -3.5677029434562093, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a44971f35df9308645b2a2dfd67eaf647b8a5471 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,600 @@ +{ + "layout_id": 14, + "style_id": 53, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.09569371532340781 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and squash to the fridge. Place the fish on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.703875591227814, + -3.1466655820434712, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..98f5c35b5d4de854a0c79d0ae8e2d21c7a0dfa58 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 46, + "style_id": 30, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.6109578661503194, + 1.039938 + ], + "offset": [ + -0.06952406692484026, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.5058541504808511, + 1.039938 + ], + "offset": [ + 0.6220759247595744, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05165974373992843, + 0.15974517784092518, + 0.04071821599999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and potato to the fridge. Place the steak on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.367172678980919, + -5.482663994055605, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414375813994377 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e61917fc2068dc9d2e5365e2c0d242137fceb2a2 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,698 @@ +{ + "layout_id": 49, + "style_id": 43, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3898829556649472, + 0.580711 + ], + "offset": [ + -1.3093675221675265, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_front_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.8080829091527146, + 0.580711 + ], + "offset": [ + -0.6002675454236428, + 0.0, + 0.59165 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0671310922831356, + 0.09899880177224696, + 0.06861402506961725 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and lime to the fridge. Place the fish on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_4_room", + "stool2": "stool_3_room", + "dining_counter": "counter_5_front_group_1", + "fridge": "fridgefrenchdoor_left_group_2", + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.755925358124836, + -6.445020501753479, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853830286373852 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5631db97f51f35f9c38ea2cfe3fd5d9b050f55f9 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,620 @@ +{ + "layout_id": 30, + "style_id": 51, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group", + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.818427685066467, + -4.3142690710958815, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a96d36a742c8c8dc95f3f85f4d5bf57f8269240d --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 16, + "style_id": 52, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.8139999918874192, + 0.976 + ], + "offset": [ + 0.008000004056290422, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.6553320236004757, + -3.7897569902883554, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185104363653 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e575e6088c39e316933d3847f0d7f6f16848227b --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 31, + "style_id": 54, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403734, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.765373685503431, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.04724175415926844, + 0.07095003329879473, + 0.04452813252783647 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_15/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and lemon to the fridge. Place the steak on the rack containing meat and place the lemon on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2948172397178441, + -4.235263555322248, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53c4aa0a9ce060e029dc42632cd9f885c8ce0c3d --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,808 @@ +{ + "layout_id": 25, + "style_id": 15, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.486819938928346 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and eggplant to the fridge. Place the chicken drumstick on the rack containing meat and place the eggplant on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7015560384426465, + -5.599029279455715, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963610234394 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e06ed3568a7d77f13b73c92263a3330eac30b048 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,681 @@ +{ + "layout_id": 35, + "style_id": 57, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and tomato to the fridge. Place the steak on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.3463030303131545, + -2.0595968935739224, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1f2f35a680f5b006e11d9a6da5a8ce3447e3a3d --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,724 @@ +{ + "layout_id": 29, + "style_id": 18, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0629998891679566, + 1.8 + ], + "offset": [ + 1.2910000554160215, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.3253668539511603, + 1.8 + ], + "offset": [ + 0.44400005541602106, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and lemon wedge to the fridge. Place the steak on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.586222590415401, + -4.132102448589986, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818342 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6057e6056e6a9e854f9b40e97cded0bc973dcdf9 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 34, + "style_id": 22, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.8998000346101831, + 0.6007724187087531 + ], + "offset": [ + 0.3024000173050916, + 0.2889137906456236, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.35019996538967746, + 1.1786 + ], + "offset": [ + -0.3225999826948387, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0671310922831356, + 0.09899880177224696, + 0.06861402506961725 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and cucumber to the fridge. Place the fish on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.8384355068065426, + -3.0419918196379494, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc2d1152a39c1294d442942f3778e86786a77d8e --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 14, + "style_id": 39, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and corn to the fridge. Place the fish on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.854154201511675, + -3.098005701808308, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a65a298fb2fc3b78bccd81b924c8ca7c8dbbf465 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 13, + "style_id": 20, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and avocado to the fridge. Place the chicken drumstick on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group_1", + "fridge": "fridge_1_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.329076158192761, + -3.5910351461599173, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5bd931e39b1e5be492fb241965f62bd641dd3cc1 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,560 @@ +{ + "layout_id": 37, + "style_id": 41, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.3925039939988314, + 1.045 + ], + "offset": [ + 0.6250000155604067, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8574960060010299, + 0.42099999999999993 + ], + "offset": [ + 1.5560476018805502e-08, + 0.31200000000000006, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.486819938928346 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and lemon wedge to the fridge. Place the fish on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.108329369806515, + -2.5953825807499507, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1e68898d4930f94100b2c7a25379891d630014 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 24, + "style_id": 51, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.552587619802766, + 1.95 + ], + "offset": [ + -1.123706190098617, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8468247603944681, + 1.3184 + ], + "offset": [ + 0.07600000000000007, + 0.31579999999999997, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1630804338782583, + 0.06144228405466158, + 0.4355385663470876 + ], + "size": [ + 0.3528853422931541, + 0.6011813044052923 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1630804338782583, + 0.06144228405466158, + 0.05512301126684368 + ], + "size": [ + 0.3528853422931541, + 0.6011813044052923 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_right_group", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2863303114737494, + -4.1417045075474626, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..697af696d6505748be3579fa271759978e491070 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 24, + "style_id": 42, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.491, + 1.95 + ], + "offset": [ + -1.1544999999999999, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.97, + 1.3591392797942359 + ], + "offset": [ + 0.07600000000000007, + 0.29543036010288193, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and eggplant to the fridge. Place the chicken drumstick on the rack containing meat and place the eggplant on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_right_group", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3979025766294204, + -4.272403864968582, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f06a470f8f7b31acc9c9461b5faf09cd4463e9a --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,644 @@ +{ + "layout_id": 31, + "style_id": 13, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7025769805582294, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11994071370219295, + 0.49480388284739923 + ], + "size": [ + 0.5903976923748729, + 0.43215057829229375 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and potato to the fridge. Place the chicken drumstick on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3433299367243483, + -4.395705426683643, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af9209e25356e8d3749cd8d69d8e005cd8346126 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,638 @@ +{ + "layout_id": 21, + "style_id": 56, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.18474779954104448, + 0.1500311741612339, + 0.5201925002429608 + ], + "size": [ + 0.41111786047840115, + 0.39778576711082236 + ], + "name": "fridge_shelf4" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.18449748789877732, + 0.1504713687731577, + 0.20975775030992314 + ], + "size": [ + 0.4145411366001111, + 0.39914873020115793 + ], + "name": "fridge_shelf3" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and corn to the fridge. Place the steak on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_left_group", + "counter": "counter_3_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8004536174660006, + -3.4744737637067202, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5ccca82183933a98d2f28965929ec9a4cd20a8e --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 13, + "style_id": 30, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07388735999999997, + 0.09999999999999996, + 0.07365630199999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and sweet potato to the fridge. Place the steak on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group_1", + "fridge": "fridge_1_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.296879633388629, + -3.5094478147158155, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82ff44fc1cfa1effc8ae94ca9984c38839dcee0e --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,607 @@ +{ + "layout_id": 11, + "style_id": 23, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.09569371532340781 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.01934, + 0.088424, + 0.042176 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and lemon to the fridge. Place the steak on the rack containing meat and place the lemon on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "dining_counter": "dining_dining_group", + "fridge": "fridge_right_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.0617112289722281, + -2.030268478906419, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 2.0281593271498366e-07 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..561498e853c527ef95dd7a5a557b78e909b91071 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 28, + "style_id": 17, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 3.470999955589244, + 0.406 + ], + "offset": [ + 0.133000022205378, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_right_group", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1987597886255346, + -3.369449607504367, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d87f13a62a67309897620486dd33854f6f21ade5 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,652 @@ +{ + "layout_id": 51, + "style_id": 55, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and squash to the fridge. Place the chicken drumstick on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.40612459887899, + -4.522442705057885, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853798290089208 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d964db1f117b0943fba962edf2307f3255a563c --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,672 @@ +{ + "layout_id": 23, + "style_id": 56, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.012142208719510522, + 0.08437463521775693, + 0.10007311547987242 + ], + "size": [ + 0.6159293930276601, + 0.5480441801831577 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and lime to the fridge. Place the chicken drumstick on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group", + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7033391808273723, + -3.832119429979702, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d3b6810ea5a747446a688e95181c65f62d40e70 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,600 @@ +{ + "layout_id": 59, + "style_id": 56, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.3053294087747833, + 1.075989 + ], + "offset": [ + -0.5830330063356395, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8368026165979865, + 0.4609890000000001 + ], + "offset": [ + 0.011966993649254576, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and onion to the fridge. Place the fish on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.704617350769089, + -3.626002259660016, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.570796477790699 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63d1af3bb231e7d8daf5c085a44e9ab171072c9e --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,599 @@ +{ + "layout_id": 14, + "style_id": 36, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + -0.003349205476827516, + 0.08611485155160532, + 0.23001125112024576 + ], + "size": [ + 0.6367794677104182, + 0.548573995662641 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.003349205476827516, + 0.08611485155160532, + 0.5386462690689253 + ], + "size": [ + 0.6367794677104182, + 0.548573995662641 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and tomato to the fridge. Place the fish on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6835536941083356, + -3.1072679739244853, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c642b8dfc398fb5d9d4a05f663ab6f34c7f741f --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 31, + "style_id": 16, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8453539046285707, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.072908, + 0.106228, + 0.054972 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.09569371532340781 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and sweet potato to the fridge. Place the fish on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3140815221437225, + -4.409028069366145, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc6342cc5f77da0e2b29cb0948097b478bdef544 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 57, + "style_id": 18, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and garlic to the fridge. Place the steak on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group_1", + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -3.2837555010709427, + -5.429977772261663, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707962925663537 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d9e87b5202e17f4e3e5e2feafebcd7fa60fbc58d --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,617 @@ +{ + "layout_id": 45, + "style_id": 51, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.9939999539108983, + 1.04 + ], + "offset": [ + -0.028000023044550737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.1630804338782583, + 0.06144228405466158, + 0.05512301126684368 + ], + "size": [ + 0.3528853422931541, + 0.6011813044052923 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.1630804338782583, + 0.06144228405466158, + 0.4355385663470876 + ], + "size": [ + 0.3528853422931541, + 0.6011813044052923 + ], + "name": "fridge_shelf2" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.330570136592823, + -3.3154600161406718, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62a608801667ac2f31b13de28a1b97685bcc64c2 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 35, + "style_id": 31, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.061548362299999985, + 0.08427053679999998, + 0.05911777369999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and bell pepper to the fridge. Place the steak on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.286556834802467, + -2.3225464151223245, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11a0ebb8d405551ae9d2d05d92150d6740cc6a66 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,642 @@ +{ + "layout_id": 42, + "style_id": 18, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.7144870081283456, + 1.242 + ], + "offset": [ + 0.8740001325046141, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.407512991871424, + 0.59421 + ], + "offset": [ + 0.31300013250472913, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004448710707134762, + 0.07787020008084633, + 0.2687400063981569 + ], + "size": [ + 0.6491596245173747, + 0.5040113829419179 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.062111171395770465, + 0.10999998688697808, + 0.04926267939999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008234956404977734, + 0.07766792230766895, + 0.5616164387813524 + ], + "size": [ + 0.6516963579397972, + 0.5048786873635636 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and broccoli to the fridge. Place the chicken drumstick on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6458569511969352, + -4.278288853275179, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..662a3d22bfe8df9c561cdf97f292b3010082ac46 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 55, + "style_id": 11, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.5305872589961047, + 1.16985 + ], + "offset": [ + 0.33041187050194765, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.756634755979873, + 1.16985 + ], + "offset": [ + -0.21738812201006352, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + 0.005103815133564837, + -0.025509715229347765, + 0.4904887230576014 + ], + "size": [ + 0.6381259239078757, + 0.44450626326519715 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.005103815133564837, + -0.025509715229347765, + 0.15362000507633938 + ], + "size": [ + 0.6381259239078757, + 0.44450626326519715 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.378974796971824, + -3.9317262130940245, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4fe49783181353ff8391e82edad2fb59933e6c0 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,599 @@ +{ + "layout_id": 59, + "style_id": 24, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.3793146165033745, + 1.075989 + ], + "offset": [ + -0.5830330063356395, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7628174088693954, + 0.4609890000000001 + ], + "offset": [ + 0.011966993649254576, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.052865963819999987, + 0.08099999999999999, + 0.052313077259999986 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.777309713023623, + -3.6419297671509194, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.570796477790699 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1035168dd3cfc9c10de4fdaa87440a4f0ccc60f7 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 46, + "style_id": 29, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.6109578661503194, + 1.039938 + ], + "offset": [ + -0.06952406692484026, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.5058541504808511, + 1.039938 + ], + "offset": [ + 0.6220759247595744, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and onion to the fridge. Place the fish on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.352615439289973, + -5.4094009487173365, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414375813994377 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f95236a746d1ed8cb845323a56896152c6466b6d --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 44, + "style_id": 15, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and lime to the fridge. Place the chicken drumstick on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6990212033807652, + -4.512120970300475, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9fa596e88087195b6bd3b6b43f027f03ae28a8d --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 55, + "style_id": 12, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.5305872589961047, + 1.16985 + ], + "offset": [ + 0.33041187050194765, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.756634755979873, + 1.16985 + ], + "offset": [ + -0.21738812201006352, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.003349205476827516, + 0.08611485155160532, + 0.5386462690689253 + ], + "size": [ + 0.6367794677104182, + 0.548573995662641 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.003349205476827516, + 0.08611485155160532, + 0.23001125112024576 + ], + "size": [ + 0.6367794677104182, + 0.548573995662641 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and bell pepper to the fridge. Place the chicken drumstick on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.31357725551583, + -3.9842534444004434, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3c3a1ae1225dc43743556c5a61f7b5851eb16d1 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 14, + "style_id": 25, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07535299319999997, + 0.08999119169999995, + 0.08596342619999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.850743856827781, + -3.1488412122051455, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70352cfdd17e3d9b9c9f5173e8c750cd2c0293e8 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 13, + "style_id": 25, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and broccoli to the fridge. Place the steak on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group_1", + "fridge": "fridge_1_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3075366033679665, + -3.6184976327366, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3813c013d8b4606cccef4966a5d006d86e4e8f95 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,674 @@ +{ + "layout_id": 23, + "style_id": 31, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05391862382619939, + 0.07085656569409443, + 0.054317850551971095 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and potato to the fridge. Place the steak on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group", + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.845258836718192, + -3.8215150711014463, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff25b36378a6cd7dc199cbfb033dc7379da6d623 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,644 @@ +{ + "layout_id": 31, + "style_id": 37, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403742, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.858772583896616, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.012142208719510522, + 0.08437463521775693, + 0.10007311547987242 + ], + "size": [ + 0.6159293930276601, + 0.5480441801831577 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and potato to the fridge. Place the steak on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3027197069685563, + -4.219462238198139, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1c3715f2e675a52e1e4c12cb0a0e79fb7418c9e --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 21, + "style_id": 14, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.5295696868346794 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.072908, + 0.106228, + 0.054972 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.23759933738123099 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and garlic to the fridge. Place the fish on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_left_group", + "counter": "counter_3_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.683132651073806, + -3.5000656315347767, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f70048da786c66be3ba0e1af54571af37eebc36 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,644 @@ +{ + "layout_id": 26, + "style_id": 40, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.666000004720821, + 0.6 + ], + "offset": [ + -0.1609999976395895, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and cucumber to the fridge. Place the fish on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3786431036084963, + -3.2103401605491437, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f276fe1fc014bcbbfa32939a495bf3f086447dec --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,639 @@ +{ + "layout_id": 27, + "style_id": 53, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9289997599370521, + 0.688 + ], + "offset": [ + 0.711000120031474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.2929997599370466, + 0.688 + ], + "offset": [ + 0.029000120031476673, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.09569371532340781 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07273767599999997, + 0.09999999999999996, + 0.07202737999999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "counter_3_front_group", + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.296617641097488, + -3.931134087591419, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..618320ef4c571aa020735979496461357ce4f2f8 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 30, + "style_id": 56, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_front_group", + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9141219364469744, + -4.244358534271896, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a79aa2fee899682ed01616b200bfac8ae7bf66c --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,697 @@ +{ + "layout_id": 15, + "style_id": 37, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.6344751926175729, + 1.47 + ], + "offset": [ + 0.6190000467904193, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.687524807382427, + 0.8550000000000001 + ], + "offset": [ + -0.04199995320958072, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.516647926450094 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.1109960355, + 0.125383608, + 0.0904473255 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lettuce", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce004/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.2302680283457473 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and cucumber to the fridge. Place the chicken drumstick on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.568513026119964, + -3.069692650119203, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f19f343bd53c89d2fcae174aac4dbf4950f7b72 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,673 @@ +{ + "layout_id": 23, + "style_id": 43, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + -0.001492269213273223, + 0.10767671162184726, + 0.21052621409004907 + ], + "size": [ + 0.6511931773551548, + 0.5246483271715515 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.022108, + 0.06904, + 0.037036 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml" + }, + "reset_region": { + "offset": [ + 4.011443266541126e-05, + 0.10767671162184726, + 0.5259250500780068 + ], + "size": [ + 0.6742557497377784, + 0.5246483271715515 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and sweet potato to the fridge. Place the chicken drumstick on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group", + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9526219835915786, + -3.9380379413084006, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ab1a858c8ffe2597e8ab172f109b327e4cb9e90 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 54, + "style_id": 30, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.9672856114669979, + 1.17 + ], + "offset": [ + 1.161571194266501, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.153285595255326, + 1.17 + ], + "offset": [ + 0.568571202372337, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.11868673950000001, + 0.10185093450000002, + 0.14552786850000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lettuce", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce005/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.991014315442754, + -4.724087104767459, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853816290691382 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e4de8e68e84cdc4af8bfa96da08c7da06bba9c3 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 46, + "style_id": 25, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.6109578661503194, + 1.039938 + ], + "offset": [ + -0.06952406692484026, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5058541504808511, + 1.039938 + ], + "offset": [ + 0.6220759247595744, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and cucumber to the fridge. Place the steak on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4010158219947595, + -5.526644883064198, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414375813994377 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..932b7527b399da4ad96e5e74e63df8eebc62a82a --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,630 @@ +{ + "layout_id": 53, + "style_id": 19, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.667270009342277, + 1.259164 + ], + "offset": [ + -0.4048369953288615, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and garlic to the fridge. Place the chicken drumstick on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "dining_counter": "dining_dining_area_group_1", + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_3_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0077624383808685, + -1.7506613642903373, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283023098423885 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8edcb4929308ec4a358f2c9f39bcc85ea7063d0b --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,626 @@ +{ + "layout_id": 19, + "style_id": 26, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and tomato to the fridge. Place the fish on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group", + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9185478097538167, + -3.9919490521941814, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c8dbafc8ba52de73a5159646e146d4e49833d7 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,639 @@ +{ + "layout_id": 42, + "style_id": 30, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.6624193571628552, + 1.242 + ], + "offset": [ + 0.8740001325046141, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.4595806428369147, + 0.59421 + ], + "offset": [ + 0.31300013250472913, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.12405540000000001, + 0.10193400000000001, + 0.12899880000000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lettuce", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce007/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and mushroom to the fridge. Place the chicken drumstick on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6764766158624653, + -4.247797113339473, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12fd19033a0d6b604f9e606199426d12ce94fa9b --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,696 @@ +{ + "layout_id": 15, + "style_id": 33, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.5586388113385319, + 1.47 + ], + "offset": [ + 0.6190000467904193, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.763361188661468, + 0.8550000000000001 + ], + "offset": [ + -0.04199995320958072, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.14783619792044728 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.49724492486590105 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and onion to the fridge. Place the chicken drumstick on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.59072579095716, + -3.0506257173786198, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b94beccdd071d0a16d369361f5318bb603d6b51e --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,629 @@ +{ + "layout_id": 48, + "style_id": 54, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.4970364903667996, + 1.464295 + ], + "offset": [ + -0.8979727548166001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.6940363732921537, + 1.464295 + ], + "offset": [ + -0.29947281335392306, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and broccoli to the fridge. Place the fish on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.3417864823322239, + -3.8768846574155216, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.282879601290039 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d9b9453a6d865fb2a9b8f1df54dcd5c7693f943 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,615 @@ +{ + "layout_id": 45, + "style_id": 37, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.9939999539108983, + 1.04 + ], + "offset": [ + -0.028000023044550737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.1831093170186604, + 0.023168119566948225, + 0.4670440862044302 + ], + "size": [ + 0.3937015089008735, + 0.4119138193763873 + ], + "name": "fridge_shelf4" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05881770738660883, + 0.08999999474454902, + 0.058182302091294484 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.18161630215048574, + 0.023634704668647366, + 0.11310349596441675 + ], + "size": [ + 0.3502407441479547, + 0.41335852229643905 + ], + "name": "fridge_shelf3" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and squash to the fridge. Place the fish on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2484415433333378, + -3.148577004198251, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..058de7cceb6d0ef2dd3a25eed341f36a28f5d8a8 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,628 @@ +{ + "layout_id": 19, + "style_id": 13, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11994071370219295, + 0.49480388284739923 + ], + "size": [ + 0.5903976923748729, + 0.43215057829229375 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.052865963819999987, + 0.08099999999999999, + 0.052313077259999986 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and corn to the fridge. Place the steak on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group", + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7432270126197023, + -3.938787187466032, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f25911e9121a12330a80d15a84935ca25f8e8552 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,681 @@ +{ + "layout_id": 24, + "style_id": 28, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.561185166500994, + 1.95 + ], + "offset": [ + -1.119407416749503, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8296296669980119, + 1.3384 + ], + "offset": [ + 0.07600000000000007, + 0.3058000000000002, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.18161630215048574, + 0.023634704668647366, + 0.11310349596441675 + ], + "size": [ + 0.3502407441479547, + 0.41335852229643905 + ], + "name": "fridge_shelf3" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1831093170186604, + 0.023168119566948225, + 0.4670440862044302 + ], + "size": [ + 0.3937015089008735, + 0.4119138193763873 + ], + "name": "fridge_shelf4" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_right_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.348048739843992, + -4.176839696854607, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..658b60061730f839d5243260cdd51b1eedb11533 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 57, + "style_id": 27, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.18443539862617542, + 0.15946261204800538, + 0.22080450818706707 + ], + "size": [ + 0.4145301970364168, + 0.4262643586475904 + ], + "name": "fridge_shelf3" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.18468570171879015, + 0.1590411040823833, + 0.512698892075753 + ], + "size": [ + 0.41110700154736807, + 0.4249592362239284 + ], + "name": "fridge_shelf4" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and lime to the fridge. Place the fish on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group_1", + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -3.3287180016722018, + -5.386165086739089, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707962925663537 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fafbd5153727c4dda5bddc6edca68a697f6172c7 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,699 @@ +{ + "layout_id": 17, + "style_id": 31, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05881770738660883, + 0.08999999474454902, + 0.058182302091294484 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and bell pepper to the fridge. Place the fish on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_1_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.982113418716142, + -3.633502197228261, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981459128913 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86a22ec834eccc981264d7b9ef8e84e6795b1f9d --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 21, + "style_id": 21, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.5295696868346794 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.23759933738123099 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and bell pepper to the fridge. Place the chicken drumstick on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_left_group", + "counter": "counter_3_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8488856269295098, + -3.542319179378701, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0636113e20df436ad2ef9588e31d8c031d94851 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 33, + "style_id": 49, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.223527097661139, + 1.1661 + ], + "offset": [ + 1.2867635488305698, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.45907285297764644, + 0.6325785595884719 + ], + "offset": [ + 0.4454635735111767, + 0.26676072020576413, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and bell pepper to the fridge. Place the steak on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3274211448376683, + -3.51171932929793, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5709472799547157 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ff912adb984afe86eec90e1e21575cc90c6bfda --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,681 @@ +{ + "layout_id": 35, + "style_id": 43, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and squash to the fridge. Place the fish on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.365562657564395, + -2.232574693784487, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be761ef11643b9d5c5cd9995cae753fc3cb36df2 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,696 @@ +{ + "layout_id": 15, + "style_id": 56, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.47962348968434254, + 1.47 + ], + "offset": [ + 0.6190000467904193, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8423765103156571, + 0.8550000000000001 + ], + "offset": [ + -0.04199995320958072, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5261674474360283 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.19828997088407027 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and garlic to the fridge. Place the fish on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5105792432303513, + -3.2298695793713477, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5c525d990244e398100c54e7e838cd4fc185afb --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 19, + "style_id": 34, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and squash to the fridge. Place the fish on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "dining_dining_area_group", + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6988110040984665, + -3.9570543249874723, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707964142176731 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd2e7f4689df75fb6f4891370cb8b1a2b6baae5 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 45, + "style_id": 33, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.9939999539108983, + 1.04 + ], + "offset": [ + -0.028000023044550737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + 0.1630804338782583, + 0.06144228405466158, + 0.05512301126684368 + ], + "size": [ + 0.3528853422931541, + 0.6011813044052923 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1630804338782583, + 0.06144228405466158, + 0.4355385663470876 + ], + "size": [ + 0.3528853422931541, + 0.6011813044052923 + ], + "name": "fridge_shelf2" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and sweet potato to the fridge. Place the chicken drumstick on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2809508663441613, + -3.2872345321391774, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95dcab03417eb470ab489f579b0376dc93a03de1 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 21, + "style_id": 49, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and mushroom to the fridge. Place the chicken drumstick on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_left_group", + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.568055187637502, + -3.500976382613254, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..30f14ced14ee871d56ae3acd267f8206faf146ff --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 35, + "style_id": 28, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.0327864523439905, + 0.65 + ], + "offset": [ + -0.6301567738280047, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and avocado to the fridge. Place the chicken drumstick on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "counter_2_right_group_1", + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.329332982215792, + -2.0723875425114513, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1418946506376093 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..307f911086f60185f8a7708254e6df216e204e2f --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 14, + "style_id": 17, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and tomato to the fridge. Place the fish on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7261641735052295, + -3.1868947401916703, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c75410e5fdd976bfa1c22a52aaa7d5120f365c20 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,606 @@ +{ + "layout_id": 11, + "style_id": 51, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "dining_counter": "dining_dining_group", + "fridge": "fridge_right_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.0326897375821882, + -1.8090093627174744, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 2.0281593271498366e-07 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32d852b38c2343ffe9d5d3e5e9c6f55ab1c30015 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,723 @@ +{ + "layout_id": 12, + "style_id": 34, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.3250000965929507, + 1.475 + ], + "offset": [ + -1.2109999517035246, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the fish and cucumber to the fridge. Place the fish on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.721453830983667, + -3.798486824648576, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13313580258c61dc37ffc591668d2023de7942e2 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,673 @@ +{ + "layout_id": 23, + "style_id": 27, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000043711358, + 1.0 + ], + "offset": [ + -0.3359999978144321, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and lemon wedge to the fridge. Place the chicken drumstick on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_1_island_group", + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7880572716864296, + -3.8176772626808626, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9a7e51a1dbec7b19c68c788a880a5ee90fc53ae --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,605 @@ +{ + "layout_id": 11, + "style_id": 11, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06501576, + 0.09139125000000001, + 0.022924430000000003 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + }, + "reset_region": { + "offset": [ + 0.005103815133564837, + -0.025509715229347765, + 0.15362000507633938 + ], + "size": [ + 0.6381259239078757, + 0.44450626326519715 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.005103815133564837, + -0.025509715229347765, + 0.4904887230576014 + ], + "size": [ + 0.6381259239078757, + 0.44450626326519715 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and onion to the fridge. Place the steak on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "dining_counter": "dining_dining_group", + "fridge": "fridge_right_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.0775910574384657, + -1.8845134765984, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 2.0281593271498366e-07 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a489bded2c76d9b09ad675c161aa4c7db71be8ba --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 16, + "style_id": 24, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.8139999918874192, + 0.976 + ], + "offset": [ + 0.008000004056290422, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.05391862382619939, + 0.07085656569409443, + 0.054317850551971095 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and sweet potato to the fridge. Place the chicken drumstick on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.7046798645305205, + -3.794362648313494, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185104363653 + ], + "meat_rack_index": -1, + "vegetable_rack_index": -2 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1b9021c4490b05fde07c02e7d5f69474c4fba6a --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 21, + "style_id": 43, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.23759933738123099 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.5295696868346794 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and mushroom to the fridge. Place the chicken drumstick on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group", + "fridge": "fridge_left_group", + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7266698145455766, + -3.5772765199848946, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6878935f0c583eba25e18498b910301bf925e86 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,582 @@ +{ + "layout_id": 44, + "style_id": 52, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Transport the steak and onion to the fridge. Place the steak on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.632410112272724, + -4.472367225792525, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a770874be3b06bbc1bea4d24c1c3f3f9a5c64b62 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 31, + "style_id": 31, + "object_cfgs": [ + { + "name": "meat_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "meat_counter", + "obj_groups": "meat", + "exclude_obj_groups": [ + "shrimp" + ], + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + }, + { + "name": "vegetable_counter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.7829362026175759, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "vegetable_counter", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_counter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + }, + { + "name": "meat_fridge", + "obj_groups": "meat", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable_fridge", + "obj_groups": "vegetable", + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0.3, + 1.0 + ], + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.4820206657758469 + ], + "size": [ + 0.6156824766911978, + 0.44553579722666714 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Transport the chicken drumstick and lime to the fridge. Place the chicken drumstick on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "dining_counter": "island_island_group_1", + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3291444039487692, + -4.224029625107794, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 6.283185947300313 + ], + "meat_rack_index": -2, + "vegetable_rack_index": -1 +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/embodiment.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/episodes.jsonl b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebdbd7c09c03d1b15b9ce77eef79fec912bae81b --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_index": 0, "tasks": ["Transport the chicken drumstick and onion to the fridge. Place the chicken drumstick on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1104} +{"episode_index": 1, "tasks": ["Transport the chicken drumstick and lemon to the fridge. Place the chicken drumstick on the rack containing meat and place the lemon on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1295} +{"episode_index": 2, "tasks": ["Transport the chicken drumstick and lemon wedge to the fridge. Place the chicken drumstick on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1154} +{"episode_index": 3, "tasks": ["Transport the steak and squash to the fridge. Place the steak on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1777} +{"episode_index": 4, "tasks": ["Transport the chicken drumstick and mushroom to the fridge. Place the chicken drumstick on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 860} +{"episode_index": 5, "tasks": ["Transport the chicken drumstick and tomato to the fridge. Place the chicken drumstick on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1309} +{"episode_index": 6, "tasks": ["Transport the fish and sweet potato to the fridge. Place the fish on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1314} +{"episode_index": 7, "tasks": ["Transport the chicken drumstick and cucumber to the fridge. Place the chicken drumstick on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1004} +{"episode_index": 8, "tasks": ["Transport the steak and garlic to the fridge. Place the steak on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1081} +{"episode_index": 9, "tasks": ["Transport the chicken drumstick and onion to the fridge. Place the chicken drumstick on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1384} +{"episode_index": 10, "tasks": ["Transport the steak and garlic to the fridge. Place the steak on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1641} +{"episode_index": 11, "tasks": ["Transport the fish and broccoli to the fridge. Place the fish on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1277} +{"episode_index": 12, "tasks": ["Transport the steak and corn to the fridge. Place the steak on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1203} +{"episode_index": 13, "tasks": ["Transport the chicken drumstick and garlic to the fridge. Place the chicken drumstick on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1217} +{"episode_index": 14, "tasks": ["Transport the fish and onion to the fridge. Place the fish on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1184} +{"episode_index": 15, "tasks": ["Transport the fish and sweet potato to the fridge. Place the fish on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1172} +{"episode_index": 16, "tasks": ["Transport the chicken drumstick and squash to the fridge. Place the chicken drumstick on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1360} +{"episode_index": 17, "tasks": ["Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1242} +{"episode_index": 18, "tasks": ["Transport the chicken drumstick and lime to the fridge. Place the chicken drumstick on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1392} +{"episode_index": 19, "tasks": ["Transport the chicken drumstick and garlic to the fridge. Place the chicken drumstick on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1195} +{"episode_index": 20, "tasks": ["Transport the steak and potato to the fridge. Place the steak on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1216} +{"episode_index": 21, "tasks": ["Transport the chicken drumstick and squash to the fridge. Place the chicken drumstick on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1041} +{"episode_index": 22, "tasks": ["Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1100} +{"episode_index": 23, "tasks": ["Transport the steak and broccoli to the fridge. Place the steak on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 865} +{"episode_index": 24, "tasks": ["Transport the steak and cucumber to the fridge. Place the steak on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1105} +{"episode_index": 25, "tasks": ["Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1204} +{"episode_index": 26, "tasks": ["Transport the chicken drumstick and carrot to the fridge. Place the chicken drumstick on the rack containing meat and place the carrot on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1055} +{"episode_index": 27, "tasks": ["Transport the fish and squash to the fridge. Place the fish on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 899} +{"episode_index": 28, "tasks": ["Transport the steak and potato to the fridge. Place the steak on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1656} +{"episode_index": 29, "tasks": ["Transport the fish and lime to the fridge. Place the fish on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1680} +{"episode_index": 30, "tasks": ["Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1314} +{"episode_index": 31, "tasks": ["Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1101} +{"episode_index": 32, "tasks": ["Transport the steak and lemon to the fridge. Place the steak on the rack containing meat and place the lemon on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1017} +{"episode_index": 33, "tasks": ["Transport the chicken drumstick and eggplant to the fridge. Place the chicken drumstick on the rack containing meat and place the eggplant on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1229} +{"episode_index": 34, "tasks": ["Transport the steak and tomato to the fridge. Place the steak on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1377} +{"episode_index": 35, "tasks": ["Transport the steak and lemon wedge to the fridge. Place the steak on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1244} +{"episode_index": 36, "tasks": ["Transport the fish and cucumber to the fridge. Place the fish on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1082} +{"episode_index": 37, "tasks": ["Transport the fish and corn to the fridge. Place the fish on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 805} +{"episode_index": 38, "tasks": ["Transport the chicken drumstick and avocado to the fridge. Place the chicken drumstick on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1240} +{"episode_index": 39, "tasks": ["Transport the fish and lemon wedge to the fridge. Place the fish on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1185} +{"episode_index": 40, "tasks": ["Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1425} +{"episode_index": 41, "tasks": ["Transport the chicken drumstick and eggplant to the fridge. Place the chicken drumstick on the rack containing meat and place the eggplant on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1305} +{"episode_index": 42, "tasks": ["Transport the chicken drumstick and potato to the fridge. Place the chicken drumstick on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1028} +{"episode_index": 43, "tasks": ["Transport the steak and corn to the fridge. Place the steak on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1003} +{"episode_index": 44, "tasks": ["Transport the steak and sweet potato to the fridge. Place the steak on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 993} +{"episode_index": 45, "tasks": ["Transport the steak and lemon to the fridge. Place the steak on the rack containing meat and place the lemon on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1553} +{"episode_index": 46, "tasks": ["Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1025} +{"episode_index": 47, "tasks": ["Transport the chicken drumstick and squash to the fridge. Place the chicken drumstick on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1216} +{"episode_index": 48, "tasks": ["Transport the chicken drumstick and lime to the fridge. Place the chicken drumstick on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1118} +{"episode_index": 49, "tasks": ["Transport the fish and onion to the fridge. Place the fish on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1211} +{"episode_index": 50, "tasks": ["Transport the fish and tomato to the fridge. Place the fish on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 861} +{"episode_index": 51, "tasks": ["Transport the fish and sweet potato to the fridge. Place the fish on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1146} +{"episode_index": 52, "tasks": ["Transport the steak and garlic to the fridge. Place the steak on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1198} +{"episode_index": 53, "tasks": ["Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1323} +{"episode_index": 54, "tasks": ["Transport the steak and bell pepper to the fridge. Place the steak on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1340} +{"episode_index": 55, "tasks": ["Transport the chicken drumstick and broccoli to the fridge. Place the chicken drumstick on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1232} +{"episode_index": 56, "tasks": ["Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1412} +{"episode_index": 57, "tasks": ["Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1122} +{"episode_index": 58, "tasks": ["Transport the fish and onion to the fridge. Place the fish on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1679} +{"episode_index": 59, "tasks": ["Transport the chicken drumstick and lime to the fridge. Place the chicken drumstick on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1037} +{"episode_index": 60, "tasks": ["Transport the chicken drumstick and bell pepper to the fridge. Place the chicken drumstick on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1205} +{"episode_index": 61, "tasks": ["Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1050} +{"episode_index": 62, "tasks": ["Transport the steak and broccoli to the fridge. Place the steak on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1257} +{"episode_index": 63, "tasks": ["Transport the steak and potato to the fridge. Place the steak on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 998} +{"episode_index": 64, "tasks": ["Transport the steak and potato to the fridge. Place the steak on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1061} +{"episode_index": 65, "tasks": ["Transport the fish and garlic to the fridge. Place the fish on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1195} +{"episode_index": 66, "tasks": ["Transport the fish and cucumber to the fridge. Place the fish on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 862} +{"episode_index": 67, "tasks": ["Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1020} +{"episode_index": 68, "tasks": ["Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1388} +{"episode_index": 69, "tasks": ["Transport the chicken drumstick and cucumber to the fridge. Place the chicken drumstick on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1221} +{"episode_index": 70, "tasks": ["Transport the chicken drumstick and sweet potato to the fridge. Place the chicken drumstick on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1015} +{"episode_index": 71, "tasks": ["Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1199} +{"episode_index": 72, "tasks": ["Transport the steak and cucumber to the fridge. Place the steak on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1942} +{"episode_index": 73, "tasks": ["Transport the chicken drumstick and garlic to the fridge. Place the chicken drumstick on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1281} +{"episode_index": 74, "tasks": ["Transport the fish and tomato to the fridge. Place the fish on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1160} +{"episode_index": 75, "tasks": ["Transport the chicken drumstick and mushroom to the fridge. Place the chicken drumstick on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1218} +{"episode_index": 76, "tasks": ["Transport the chicken drumstick and onion to the fridge. Place the chicken drumstick on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1248} +{"episode_index": 77, "tasks": ["Transport the fish and broccoli to the fridge. Place the fish on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1376} +{"episode_index": 78, "tasks": ["Transport the fish and squash to the fridge. Place the fish on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1378} +{"episode_index": 79, "tasks": ["Transport the steak and corn to the fridge. Place the steak on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 998} +{"episode_index": 80, "tasks": ["Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1304} +{"episode_index": 81, "tasks": ["Transport the fish and lime to the fridge. Place the fish on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1210} +{"episode_index": 82, "tasks": ["Transport the fish and bell pepper to the fridge. Place the fish on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 848} +{"episode_index": 83, "tasks": ["Transport the chicken drumstick and bell pepper to the fridge. Place the chicken drumstick on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1047} +{"episode_index": 84, "tasks": ["Transport the steak and bell pepper to the fridge. Place the steak on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1446} +{"episode_index": 85, "tasks": ["Transport the fish and squash to the fridge. Place the fish on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1437} +{"episode_index": 86, "tasks": ["Transport the fish and garlic to the fridge. Place the fish on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1300} +{"episode_index": 87, "tasks": ["Transport the fish and squash to the fridge. Place the fish on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1178} +{"episode_index": 88, "tasks": ["Transport the chicken drumstick and sweet potato to the fridge. Place the chicken drumstick on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1252} +{"episode_index": 89, "tasks": ["Transport the chicken drumstick and mushroom to the fridge. Place the chicken drumstick on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1152} +{"episode_index": 90, "tasks": ["Transport the chicken drumstick and avocado to the fridge. Place the chicken drumstick on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1300} +{"episode_index": 91, "tasks": ["Transport the fish and tomato to the fridge. Place the fish on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1004} +{"episode_index": 92, "tasks": ["Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1517} +{"episode_index": 93, "tasks": ["Transport the fish and cucumber to the fridge. Place the fish on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1471} +{"episode_index": 94, "tasks": ["Transport the chicken drumstick and lemon wedge to the fridge. Place the chicken drumstick on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 886} +{"episode_index": 95, "tasks": ["Transport the steak and onion to the fridge. Place the steak on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1653} +{"episode_index": 96, "tasks": ["Transport the chicken drumstick and sweet potato to the fridge. Place the chicken drumstick on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1231} +{"episode_index": 97, "tasks": ["Transport the chicken drumstick and mushroom to the fridge. Place the chicken drumstick on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1252} +{"episode_index": 98, "tasks": ["Transport the steak and onion to the fridge. Place the steak on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 1139} +{"episode_index": 99, "tasks": ["Transport the chicken drumstick and lime to the fridge. Place the chicken drumstick on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."], "length": 996} diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6688b8fa557743bad9f558a12599bc952cb84002 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,100 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5283453236932248]], [[0.4924790689703155]], [[0.45879935219649864]]], "std": [[[0.25234250243715695]], [[0.2500275461010716]], [[0.2419764606024676]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5426050278381968]], [[0.5363010269821381]], [[0.4932076289195836]]], "std": [[[0.21389869292595678]], [[0.20251908946473068]], [[0.19462402681524796]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5377529804154154]], [[0.5299040125204716]], [[0.48523213886135275]]], "std": [[[0.2178576036863367]], [[0.20513337902390186]], [[0.19804357229658612]]], "count": [191]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1104]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1104]}, "observation.state": {"min": [1.8905075925795076, -3.5183706251241764, 0.6999949976355819, 0.0, 0.0, 0.6964569687843323, 0.6559468507766724, -0.18677902525836831, -0.05771094990329173, 0.23013273752860564, -0.9898302555084229, -0.21537092328071594, -0.5778290629386902, 1.990528517126222e-06, 0.009451652218254562, -0.04016342693107407], "max": [3.875062160915255, -0.9640659112049063, 0.7046898207211535, 0.0, 0.0, 0.7548070549964905, 0.717598557472229, 0.6549704825073137, 0.08632253400559398, 0.8279203675033964, 0.9809549450874329, 0.2458377480506897, 0.5261105895042419, 0.09081347286701202, 0.04044158429491505, -0.01028178450454846], "mean": [3.014547709920629, -2.3850775513310905, 0.7020575402789251, 0.0, 0.0, 0.7172576034090657, 0.6963247175233952, 0.15169677146979466, 0.0160195634488255, 0.6076631320372218, -0.06374381191056708, 0.0008345322440499845, 0.011036755895474926, 0.028219249270663594, 0.03157862757195522, -0.03064787439328592], "std": [0.7869923295853406, 1.0258136422723887, 0.001336630058766094, 0.0, 0.0, 0.017717366534791956, 0.018960499701522623, 0.25369809144396716, 0.03095999729999062, 0.16914691496285553, 0.9313752625258827, 0.09469619905257565, 0.3437519001668031, 0.02062224733833299, 0.012478343522055301, 0.011730420560668602], "count": [1104]}, "action": {"min": [-1.0, -1.0, -0.2742857142857143, 0.0, -1.0, -1.0, -0.42142857142857143, -1.0, -0.16, -0.3628571428571429, -0.2542857142857143, -1.0], "max": [1.0, 1.0, 0.2885714285714286, 0.0, 1.0, 1.0, 0.45, 1.0, 0.13428571428571429, 0.23428571428571432, 0.22285714285714286, 1.0], "mean": [0.11823887163561075, -0.04338121118012421, 0.0021920289855072465, 0.0, -0.2807971014492754, -0.02120212215320913, 0.008236283643892353, -0.02201086956521736, 0.0006677018633540374, 1.811594202898805e-05, 0.00041925465838509306, 0.02717391304347826], "std": [0.501091534766375, 0.35875020399045227, 0.04622172213276376, 0.0, 0.959767152916616, 0.5212708702148121, 0.07936182810458461, 0.35022747545122956, 0.02062390264380898, 0.0783841620986564, 0.04296210647627015, 0.9996307210414836], "count": [1104]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014492753893136978], "std": [0.11951030790805817], "count": [1104]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009057971014492754], "std": [0.03008282953879641], "count": [1104]}, "timestamp": {"min": [0.0], "max": [55.15], "mean": [27.575], "std": [15.934860892604824], "count": [1104]}, "frame_index": {"min": [0], "max": [1103], "mean": [551.5], "std": [318.6972178520965], "count": [1104]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1104]}, "index": {"min": [0], "max": [1103], "mean": [551.5], "std": [318.6972178520965], "count": [1104]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1104]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5656111489438163]], [[0.5573059357566155]], [[0.5231012903605756]]], "std": [[[0.2283922387908949]], [[0.19597547360601678]], [[0.2232776492388367]]], "count": [215]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5677018607679264]], [[0.4942310561124886]], [[0.4464525401423742]]], "std": [[[0.19421156594850725]], [[0.21536776131360347]], [[0.2403198721737938]]], "count": [215]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5832602275216955]], [[0.5379425246433966]], [[0.5071536860224649]]], "std": [[[0.2105534998164]], [[0.22578143412581278]], [[0.24219118537971832]]], "count": [215]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1295]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1295]}, "observation.state": {"min": [0.49803683187376224, -4.399339135429921, 0.6999963063880398, 0.0, 0.0, 0.5150713324546814, 0.6975342035293579, -0.11114898907474124, -0.14500135762795874, 0.2514418779393093, -0.9991978406906128, -0.16442829370498657, -0.4065343737602234, 0.0007060831412672997, 0.012689192139404315, -0.04008564292600739], "max": [3.4652272265685022, -1.1075484622965668, 0.7008978831268103, 0.0, 0.0, 0.7165515422821045, 0.8571472764015198, 0.5343956001859556, 0.006098300193843276, 0.7913706064539919, 0.9953413605690002, 0.17542269825935364, 0.510717511177063, 0.13631251454353333, 0.04006034952517052, -0.01611242096017573], "mean": [2.0631317565909764, -2.7134960993499795, 0.7002597336462765, 0.0, 0.0, 0.6706738732956551, 0.7394158074754545, 0.13271387343679455, -0.05063322096508827, 0.6158155477784024, 0.3963282551084246, 0.005237828807826208, 0.16757997890283052, 0.04069945918401509, 0.03083229994912351, -0.03097454584272273], "std": [0.9632321114425639, 1.3344306456371173, 0.00022925890473590537, 0.0, 0.0, 0.04533601759680304, 0.03748961887933944, 0.22458619173912117, 0.0348182538488619, 0.17766401507789423, 0.8637018631062474, 0.0809954967470422, 0.24415440566164603, 0.03169281592506086, 0.008088585541034247, 0.00817572701317749], "count": [1295]}, "action": {"min": [-1.0, -1.0, -0.35714285714285715, 0.0, -1.0, -1.0, -0.6214285714285714, -0.8785714285714286, -0.14, -0.32571428571428573, -0.16, -1.0], "max": [1.0, 1.0, 0.2914285714285714, 0.0, 1.0, 1.0, 0.4357142857142858, 1.0, 0.18857142857142858, 0.34285714285714286, 0.17142857142857143, 1.0], "mean": [0.12522338665195815, 0.05774407060121347, -0.004355212355212347, 0.0, -0.19382239382239383, -0.003943739658025352, -0.006845008273579703, 0.003557639271924992, 0.002195256480970768, 0.0014142305570877005, 0.0004059569773855493, 0.09961389961389962], "std": [0.4896955069428747, 0.42032823649148154, 0.08349307979814181, 0.0, 0.9810366352246769, 0.4100215257162878, 0.08643467913455502, 0.30816277415294957, 0.027324414059423416, 0.06610100924859597, 0.02366443319174122, 0.9950261659894744], "count": [1295]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01235521212220192], "std": [0.11046519875526428], "count": [1295]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007722007722007722], "std": [0.02777776949591498], "count": [1295]}, "timestamp": {"min": [0.0], "max": [64.7], "mean": [32.35], "std": [18.691709392134257], "count": [1295]}, "frame_index": {"min": [0], "max": [1294], "mean": [647.0], "std": [373.83418784268514], "count": [1295]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1295]}, "index": {"min": [1104], "max": [2398], "mean": [1751.0], "std": [373.83418784268514], "count": [1295]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1295]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5239763380058063]], [[0.47961312635058584]], [[0.4372419185492249]]], "std": [[[0.21119549939135465]], [[0.23166809873127625]], [[0.24205279518673525]]], "count": [197]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5202465978869042]], [[0.4407100743935145]], [[0.4175057035400415]]], "std": [[[0.1805095761121281]], [[0.2154606537359116]], [[0.22272878805705357]]], "count": [197]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49691815016055396]], [[0.4294257753937354]], [[0.4127761471766292]]], "std": [[[0.18327039593393948]], [[0.2113787378538934]], [[0.21727067727258373]]], "count": [197]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1154]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1154]}, "observation.state": {"min": [2.3168859614716077, -4.411751198727856, 0.6999953054211681, 0.0, 0.0, -0.9996949434280396, 0.008483256213366985, -0.1554212459433688, -0.30867208119195055, 0.23259297202408113, -0.9914430379867554, -0.5524231195449829, -0.4186665713787079, 2.0075789507245645e-05, 0.013434984885544012, -0.04003670456061355], "max": [4.738107579583356, -1.0193113315231443, 0.707824424110094, 0.0, 0.0, 0.9999639987945557, 1.0, 0.6525662911547241, 0.02359483513555971, 0.7855020746718576, 0.9926928281784058, 0.5632705688476562, 0.7355113625526428, 0.2006734013557434, 0.04065761247093293, 0.0013191202844688396], "mean": [3.865606096238657, -2.50472316341601, 0.7049071280371867, 0.0, 0.0, 0.26451947468834597, 0.6783054595840594, 0.16835776382235937, -0.09614427112415784, 0.5833849623039226, 0.019353863684722, 0.06279483873984636, 0.028944928227778343, 0.07397548766655894, 0.027433307046736567, -0.026270655201245045], "std": [0.7753336988237706, 1.3299083166862935, 0.002637533880403256, 0.0, 0.0, 0.6539326591786291, 0.20567750747983182, 0.24929532867644263, 0.08350983578573166, 0.17389854558542478, 0.9053563134721785, 0.24984279038681179, 0.3236854646317057, 0.050082939101321805, 0.010730640323345982, 0.011107980074358328], "count": [1154]}, "action": {"min": [-1.0, -1.0, 0.0, 0.0, -1.0, -1.0, -0.6428571428571428, -1.0, -0.18857142857142858, -0.34285714285714286, -0.6742857142857143, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.8428571428571429, 1.0, 0.21714285714285717, 0.5428571428571428, 0.35428571428571426, 1.0], "mean": [0.15325575637534047, -0.059606338202525394, 0.12758356028719992, 0.0, -0.2530329289428076, -0.006480564496162424, -0.002222084674424371, -0.021601881653874746, -0.0024263431542461, 0.007642980935875208, -0.004795741520178258, 0.18717504332755633], "std": [0.4196588246160446, 0.3842706986145965, 0.2552249879273573, 0.0, 0.9674576667072458, 0.48460831400419363, 0.1748820812788794, 0.3602934393770875, 0.0406278114871263, 0.09100146048345283, 0.09466315499516044, 0.9823265766308718], "count": [1154]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013864818029105663], "std": [0.11692982167005539], "count": [1154]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008665511265164644], "std": [0.029424483269236818], "count": [1154]}, "timestamp": {"min": [0.0], "max": [57.65], "mean": [28.825000000000003], "std": [16.656549012325453], "count": [1154]}, "frame_index": {"min": [0], "max": [1153], "mean": [576.5], "std": [333.13098024650907], "count": [1154]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1154]}, "index": {"min": [2399], "max": [3552], "mean": [2975.5], "std": [333.13098024650907], "count": [1154]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1154]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6110143829041031]], [[0.5386770441161741]], [[0.500516790625505]]], "std": [[[0.19833717708990906]], [[0.2091812136475429]], [[0.22559420706876343]]], "count": [273]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.564937437189419]], [[0.4925271102531557]], [[0.44773021660462065]]], "std": [[[0.1904812762963729]], [[0.21393316075871197]], [[0.23596032454172974]]], "count": [273]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5631899848405909]], [[0.502646284563004]], [[0.464087922766763]]], "std": [[[0.19288671106980487]], [[0.2147768153576796]], [[0.235157904484941]]], "count": [273]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1777]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1777]}, "observation.state": {"min": [0.6389993604740696, -6.806820500746616, 0.6999956119933519, 0.0, 0.0, -1.0, 0.00011592484952416271, -0.198977596501706, -0.18306575703672445, 0.40949084568504746, -0.9953269362449646, -0.12412223219871521, -0.7584853172302246, 2.8360333089949563e-05, 0.013607363732115779, -0.0402342740546677], "max": [4.674422584377113, -1.5166071713584937, 0.7053928632303923, 0.0, 0.0, 1.0, 0.7683067917823792, 0.610805696828979, 0.15412575167229758, 0.8435117609715026, 0.9996219873428345, 0.251139760017395, 0.7504932284355164, 0.19770623743534088, 0.041473538653876964, 0.0009769108801859373], "mean": [2.40768063458443, -4.095812004757385, 0.7011364538229935, 0.0, 0.0, 0.18416162592410773, 0.3911089499015115, 0.04945566803475459, -0.030138223194760415, 0.723207059716529, -0.4297910273645323, 0.026296304276796894, -0.1941841022967164, 0.03668515139790162, 0.0327418821632476, -0.03265988836187285], "std": [1.3510855626542264, 2.1718163273050743, 0.0009427147604336959, 0.0, 0.0, 0.8485182362929224, 0.30518043845315157, 0.25598261165987385, 0.06783671947171521, 0.1133287241498012, 0.814914384903098, 0.08016449318792339, 0.32167799227613836, 0.03932411144865045, 0.00756845928927893, 0.007122835674741304], "count": [1777]}, "action": {"min": [-1.0, -1.0, -0.7542857142857143, 0.0, -1.0, -1.0, -0.7214285714285715, -1.0, -0.2742857142857143, -0.38285714285714284, -0.18285714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.36857142857142855, 0.3057142857142857, 0.2885714285714286, 1.0], "mean": [0.3647117935525362, -0.06526650052255, 0.02241176943484201, 0.0, 0.11423747889701745, -0.006652464024439269, 0.00047833427124367565, -0.004911970415628279, 0.0020323177104268828, -0.0023651418924350875, 0.0006350992845084015, 0.08384918401800788], "std": [0.5296231325912412, 0.5298785367064464, 0.2109058295000441, 0.0, 0.9934534706845886, 0.4184940713982203, 0.11697105324129849, 0.2524180296070458, 0.03448057434573719, 0.06464845917212589, 0.025965154190444855, 0.9964784565355623], "count": [1777]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009003939107060432], "std": [0.09446093440055847], "count": [1777]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005627462014631402], "std": [0.023715596517395025], "count": [1777]}, "timestamp": {"min": [0.0], "max": [88.8], "mean": [44.39999999999999], "std": [25.648781647477918], "count": [1777]}, "frame_index": {"min": [0], "max": [1776], "mean": [888.0], "std": [512.9756329495583], "count": [1777]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1777]}, "index": {"min": [3553], "max": [5329], "mean": [4441.0], "std": [512.9756329495583], "count": [1777]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1777]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5792067197571028]], [[0.5468330142811055]], [[0.5154001648297645]]], "std": [[[0.22029316648139244]], [[0.24021103135465743]], [[0.25828792820409857]]], "count": [158]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5565533594210529]], [[0.49012002118854614]], [[0.44261441357409753]]], "std": [[[0.23687485101627526]], [[0.2504764249464733]], [[0.2547365720625876]]], "count": [158]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5294021886701056]], [[0.4808732514465438]], [[0.44706666803916234]]], "std": [[[0.22561970329278158]], [[0.24049118155882845]], [[0.24965665670812434]]], "count": [158]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [860]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [860]}, "observation.state": {"min": [2.383401284274595, -4.140852909122696, 0.699996023492184, 0.0, 0.0, -0.9996497631072998, 0.0067266556434333324, -0.12640295003250612, -0.0665469120009532, 0.34875046921362096, -0.991209089756012, -0.17851358652114868, -0.4974833130836487, 0.00015905691543594003, 0.011713715710276011, -0.03989589094941011], "max": [4.929223169960799, -3.2677178356444228, 0.7009398791774433, 0.0, 0.0, 0.9999773502349854, 0.9999969005584717, 0.6012075826593608, 0.2596822435859014, 0.8028699823690723, 0.9848327040672302, 0.17759202420711517, 0.5315767526626587, 0.10427527874708176, 0.04010441880113253, -0.012199904922232436], "mean": [3.666709529514452, -3.720119549043395, 0.7003933051504674, 0.0, 0.0, 0.2631227013232663, 0.8279043379299299, 0.14504474825418015, 0.04048479849506734, 0.6261712457112794, -0.8389483794916508, 0.024072135014589442, -0.28497969456224126, 0.057962591956142166, 0.026507492727515916, -0.025066185986236587], "std": [0.9920433295538789, 0.35663802227266966, 0.0002878861145667081, 0.0, 0.0, 0.45806027074445715, 0.1884718229553332, 0.22504644666103482, 0.06630303663731153, 0.13077388301354978, 0.41060291842021773, 0.07614165810748351, 0.18954802748276464, 0.02631147695433656, 0.011400999813553806, 0.01161802344490972], "count": [860]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -0.7571428571428572, -0.13714285714285715, -0.41714285714285715, -0.1457142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.12285714285714287, 0.3171428571428571, 0.30285714285714294, 1.0], "mean": [0.14530730897009966, 0.050340531561461815, 0.08168438538205987, 0.0, -0.16744186046511628, -0.011544850498338881, 0.007848837209302344, -0.0012126245847176125, -0.002700996677740863, -0.004102990033222591, -0.0002923588039867125, 0.17906976744186046], "std": [0.44561619161711635, 0.31113425291316954, 0.3547937374917979, 0.0, 0.9858819520429393, 0.5598246307852198, 0.19005541476342444, 0.33405552723295456, 0.0179812778748828, 0.07642631924884459, 0.0331831287221039, 0.9838363778537104], "count": [860]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01860465109348297], "std": [0.1351240873336792], "count": [860]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011627906976744186], "std": [0.034079885790122895], "count": [860]}, "timestamp": {"min": [0.0], "max": [42.95], "mean": [21.475], "std": [12.413022395855089], "count": [860]}, "frame_index": {"min": [0], "max": [859], "mean": [429.5], "std": [248.26044791710177], "count": [860]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [860]}, "index": {"min": [5330], "max": [6189], "mean": [5759.5], "std": [248.26044791710177], "count": [860]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [860]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6449105997379421]], [[0.6235717649348675]], [[0.6139671631079977]]], "std": [[[0.2501372509131034]], [[0.2691552168992927]], [[0.2742336020685312]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6270150384293712]], [[0.6137883569033712]], [[0.6078330499365194]]], "std": [[[0.25129973855702276]], [[0.2631671932272291]], [[0.2679223381157291]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6108222151401513]], [[0.5961255459687655]], [[0.5905753564735496]]], "std": [[[0.2573527918561438]], [[0.26981090141055464]], [[0.27417021714728995]]], "count": [217]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1309]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1309]}, "observation.state": {"min": [1.027080227334574, -4.833604458154901, 0.699996208413188, 0.0, 0.0, -1.0, 1.1563943189685233e-06, -0.13305813389252608, -0.13784087617584007, 0.23899670891824887, -0.9999328851699829, -0.1602763831615448, -0.5115168690681458, 0.0006557950400747359, 0.02055370300022172, -0.0400909493328611], "max": [3.408140346999924, -0.8004552859229229, 0.7027633717518069, 0.0, 0.0, 1.0, 0.9999997615814209, 0.6969010321441136, 0.29389533014377145, 0.8187688522121335, 0.989824116230011, 0.12958446145057678, 0.5118358135223389, 0.13292725384235382, 0.04061640138401137, -0.02051285740464095], "mean": [2.0364471151463763, -2.7530879264071544, 0.7011571968307609, 0.0, 0.0, 0.18668471032194545, 0.46145554522260596, 0.1486184315506553, 0.04073245181429222, 0.6184605820081979, -0.4397197047019387, -0.004027591051350257, -0.14257132756814425, 0.0432226124366872, 0.037733334761370904, -0.03336329553850738], "std": [0.9223499388442614, 1.6250894829798577, 0.0008307485201633798, 0.0, 0.0, 0.7885666538909111, 0.3610681879566267, 0.2562080172187945, 0.07709295680839226, 0.16133487335515484, 0.8364585705428107, 0.05557879948729409, 0.28353757979919475, 0.03591768707520677, 0.0020409657167172785, 0.005551590418046451], "count": [1309]}, "action": {"min": [-1.0, -1.0, -0.4657142857142857, 0.0, -1.0, -1.0, -1.0, -0.7857142857142857, -0.12, -0.3457142857142857, -0.25142857142857145, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9642857142857144, 1.0, 0.2542857142857143, 0.3742857142857143, 0.16, 1.0], "mean": [0.24264433045945638, -0.09953617810760675, 0.09807268361890212, 0.0, -0.061879297173414824, -0.004567281458037739, 0.0006930044745170878, -0.00989304812834224, 0.0025035468732947726, 0.0007726727054458197, -0.00022481719960711535, 0.09090909090909091], "std": [0.501124763424265, 0.4567106112459401, 0.24105929941957632, 0.0, 0.9980836400729829, 0.46889279809239254, 0.17103599671081018, 0.29189323904007314, 0.038976950893735235, 0.07404903008753481, 0.03623999379092422, 0.9958591954639446], "count": [1309]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012223071418702602], "std": [0.1098802462220192], "count": [1309]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007639419404125286], "std": [0.027628940137547936], "count": [1309]}, "timestamp": {"min": [0.0], "max": [65.4], "mean": [32.7], "std": [18.89378204595364], "count": [1309]}, "frame_index": {"min": [0], "max": [1308], "mean": [654.0], "std": [377.87564091907274], "count": [1309]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1309]}, "index": {"min": [6190], "max": [7498], "mean": [6844.0], "std": [377.87564091907274], "count": [1309]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1309]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.596940296033793]], [[0.5725828799010825]], [[0.5619875687449757]]], "std": [[[0.23929173407042778]], [[0.24094027977335733]], [[0.23931256594421507]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5591884140231493]], [[0.5468307237098448]], [[0.533938445468497]]], "std": [[[0.24689834596702454]], [[0.23698151333410766]], [[0.22761358992873212]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5557803866802777]], [[0.5443757665352462]], [[0.5322402481982167]]], "std": [[[0.2500318757279065]], [[0.2396076539628788]], [[0.22934448099350146]]], "count": [218]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1314]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1314]}, "observation.state": {"min": [3.173589608080187, -4.166253203465074, 0.6999950937962713, 0.0, 0.0, -1.0, 0.00014953709614928812, -0.03154459175927826, -0.129528677322843, 0.22840600267196565, -0.9847405552864075, -0.5127458572387695, -0.778249979019165, 0.00031810361542738974, 0.02057008956481886, -0.04055518706897851], "max": [6.960844069335847, -0.9699564908215889, 0.7031564593397192, 0.0, 0.0, 0.9999998807907104, 1.0, 0.6038185878510529, 0.030827574338106345, 0.7863057241960254, 0.9841257333755493, 0.5546916723251343, 0.29003456234931946, 0.21432974934577942, 0.04066066992623487, -0.011864051339156073], "mean": [4.889917460017047, -2.1286421683459698, 0.7012737218238553, 0.0, 0.0, 0.19210921409935017, 0.45095625115935745, 0.15722198475518964, -0.016065828765772026, 0.624695726934665, -0.7334923171743047, 0.049247262684721925, -0.40271556142848747, 0.07110326269134216, 0.03325458808338538, -0.028894676021118056], "std": [1.4054694846407305, 1.0304299312855405, 0.000600494054415226, 0.0, 0.0, 0.7950140070862849, 0.35733072690749634, 0.19134887837742737, 0.03339716495847676, 0.1525825351338998, 0.46887362378296127, 0.18251073277617685, 0.18687427056722405, 0.06521960717893616, 0.006378357943773244, 0.010796016059469338], "count": [1314]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.5928571428571429, -0.8428571428571429, -0.32285714285714284, -0.6314285714285715, -0.6228571428571429, -1.0], "max": [1.0, 1.0, 0.68, 0.0, 1.0, 1.0, 0.6071428571428572, 1.0, 0.32571428571428573, 0.5285714285714286, 0.5657142857142857, 1.0], "mean": [0.3670417482061316, 0.09705370732767997, -0.0211719939117199, 0.0, 0.1019786910197869, -0.011285061969993458, -0.00513698630136986, -0.01333985649054143, 0.0022200478364861934, -0.006051315503370295, -0.0020178299630354344, 0.0821917808219178], "std": [0.5066428609024459, 0.5468347298697203, 0.2446900113377864, 0.0, 0.9947865834327949, 0.41248380872546947, 0.09345845761845041, 0.32597512656662536, 0.036474974892468155, 0.11324133362207098, 0.10137993035816789, 0.9966165316536406], "count": [1314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01217656023800373], "std": [0.10967356711626053], "count": [1314]}, "next.done": {"min": [false], "max": [true], "mean": [0.00076103500761035], "std": [0.02757636367122289], "count": [1314]}, "timestamp": {"min": [0.0], "max": [65.65], "mean": [32.825], "std": [18.96595085058133], "count": [1314]}, "frame_index": {"min": [0], "max": [1313], "mean": [656.5], "std": [379.31901701162656], "count": [1314]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1314]}, "index": {"min": [7499], "max": [8812], "mean": [8155.5], "std": [379.31901701162656], "count": [1314]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1314]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4346799912235237]], [[0.39513851854081034]], [[0.3563798197199789]]], "std": [[[0.2452867912730937]], [[0.24525644343877087]], [[0.2638338276918257]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5386131879962418]], [[0.46151537545374977]], [[0.42620498411821933]]], "std": [[[0.2543829376048312]], [[0.28034422448673046]], [[0.2670307858063767]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49950565624720306]], [[0.4357277503121816]], [[0.4048064644312013]]], "std": [[[0.24295513034159325]], [[0.256310618953336]], [[0.24696126538635835]]], "count": [178]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1004]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1004]}, "observation.state": {"min": [2.311396358080761, -4.406052860274067, 0.6999962613343269, 0.0, 0.0, -0.9999394416809082, 0.01101213414222002, -0.1405356223946641, -0.03345776250479027, 0.3244762205011609, -0.9980620741844177, -0.1385059952735901, -0.4932171404361725, 0.00013680684787686914, 0.015029443161865639, -0.040014636683022575], "max": [4.9179804864891645, -3.3476199605168873, 0.7017949038329655, 0.0, 0.0, 0.9997543692588806, 0.9999769926071167, 0.686313633102825, 0.11261612328900661, 0.8190445158111205, 0.9993268251419067, 0.1724550724029541, 0.44375699758529663, 0.12189849466085434, 0.04047155280755604, -0.012382459462016633], "mean": [3.60511841171181, -3.783931866948567, 0.7009916085994295, 0.0, 0.0, 0.25496783453704, 0.8372674445311847, 0.19701291825184458, 0.04041566340354933, 0.6389601275666111, -0.636803951990082, 0.004797653013105649, -0.2344019311607539, 0.041107540078759976, 0.029222203095807774, -0.028087380611398424], "std": [1.0285077705244956, 0.3715353956164895, 0.0006246235020605487, 0.0, 0.0, 0.4522424800548831, 0.17161401489793973, 0.25601094921346473, 0.0340145836051562, 0.14471390003139278, 0.7012252139112055, 0.05442819478842997, 0.20500481374701618, 0.03342773831865058, 0.009941517622295353, 0.010361275668179857], "count": [1004]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.42142857142857143, -0.8714285714285716, -0.11714285714285716, -0.39714285714285713, -0.23428571428571432, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5857142857142857, 1.0, 0.1742857142857143, 0.28, 0.24571428571428575, 1.0], "mean": [0.10786141149686966, 0.016704610130904927, 0.06728229937393275, 0.0, -0.24302788844621515, -0.006253557199772343, 0.002660785429709736, 0.007619521912350605, 0.0032527034718269777, -0.00016505406943653737, -0.0017757541263517351, 0.07768924302788845], "std": [0.4613059914233287, 0.2785083824354387, 0.3205455474534617, 0.0, 0.9700193015798042, 0.5692062219352803, 0.08828513951256813, 0.33580846479908405, 0.028121638262175144, 0.08721139198313901, 0.04983427901208229, 0.9969776233786608], "count": [1004]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01593625545501709], "std": [0.12522895634174347], "count": [1004]}, "next.done": {"min": [false], "max": [true], "mean": [0.00099601593625498], "std": [0.03154399924723728], "count": [1004]}, "timestamp": {"min": [0.0], "max": [50.15], "mean": [25.075], "std": [14.491484568531963], "count": [1004]}, "frame_index": {"min": [0], "max": [1003], "mean": [501.5], "std": [289.82969137063924], "count": [1004]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1004]}, "index": {"min": [8813], "max": [9816], "mean": [9314.5], "std": [289.82969137063924], "count": [1004]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1004]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48583929215464233]], [[0.45340884371404605]], [[0.44737865844268226]]], "std": [[[0.24304446720133357]], [[0.24651523365416633]], [[0.2443777094344391]]], "count": [188]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46264637679321646]], [[0.43907118643329796]], [[0.42409004271900747]]], "std": [[[0.2508579134538536]], [[0.23825835865044817]], [[0.2366432144508997]]], "count": [188]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4657107178549196]], [[0.4309199721901726]], [[0.4080289459546805]]], "std": [[[0.24663646181036855]], [[0.2377567801854441]], [[0.24096506296123443]]], "count": [188]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1081]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1081]}, "observation.state": {"min": [0.975574401456569, -7.089316023923857, 0.6999978911842784, 0.0, 0.0, -1.0, 1.4060034914109565e-07, -0.14440068754822555, -0.42559987012452005, 0.2273220472119004, -0.9993526339530945, -0.2778064012527466, -0.48250406980514526, 6.76018260037381e-07, 0.013168614370712912, -0.041216035521769036], "max": [4.1654753453929505, -4.620895992725477, 0.7040104841303803, 0.0, 0.0, 1.0, 0.11193500459194183, 0.5245218086947306, 0.023400152171264565, 0.7876223154136363, 0.9993906021118164, 0.2754903733730316, 0.49607837200164795, 0.10168959200382233, 0.04010066866515797, -0.019136592057575796], "mean": [2.684759194072959, -5.822931993675064, 0.7013200438844519, 0.0, 0.0, -0.12851400048946696, 0.045484434359604246, 0.09435582964914219, -0.07514376332768448, 0.6076714761944232, 0.7241932260118955, -0.0494683240536018, 0.30312654082654744, 0.03148370694382999, 0.03343663691848026, -0.032814107935519574], "std": [1.2481361019780521, 0.9146197260887988, 0.001642027906585149, 0.0, 0.0, 0.9901491246526766, 0.03193823602686075, 0.22597503387777004, 0.10895568365966378, 0.17111992988952904, 0.5745465808735702, 0.09710181159115239, 0.20054243990628495, 0.021686935502654374, 0.007557815203770859, 0.0076321341789958716], "count": [1081]}, "action": {"min": [-1.0, -1.0, -0.42, 0.0, -1.0, -1.0, -0.807142857142857, -1.0, -0.23428571428571432, -0.4628571428571429, -0.24285714285714288, -1.0], "max": [1.0, 1.0, 0.41428571428571437, 0.0, 1.0, 1.0, 0.807142857142857, 1.0, 0.18571428571428572, 0.35714285714285715, 0.31142857142857144, 1.0], "mean": [0.1279635258358663, 0.03336196643319679, -0.001123298533104264, 0.0, -0.14708603145235893, 0.0016320866922162102, -0.0017378089070965914, 0.010122902074798473, -0.0004731069115897974, 0.004337253865468478, -0.00022465970662085435, 0.09528214616096208], "std": [0.5387090063155341, 0.45016976123373176, 0.07587497550357628, 0.0, 0.9891237027549238, 0.4762753165577824, 0.20097848836481544, 0.3675376941922376, 0.025520666570922987, 0.07967319352792504, 0.05464117632372527, 0.9954503064558052], "count": [1081]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01480111014097929], "std": [0.1207561120390892], "count": [1081]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009250693802035153], "std": [0.030400882007687296], "count": [1081]}, "timestamp": {"min": [0.0], "max": [54.0], "mean": [27.0], "std": [15.602884348735012], "count": [1081]}, "frame_index": {"min": [0], "max": [1080], "mean": [540.0], "std": [312.05768697470023], "count": [1081]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1081]}, "index": {"min": [9817], "max": [10897], "mean": [10357.0], "std": [312.05768697470023], "count": [1081]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1081]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5126011832728892]], [[0.49580073809222425]], [[0.48179714342547897]]], "std": [[[0.2385421237049971]], [[0.22685730638150015]], [[0.2342259268727688]]], "count": [226]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5057200651418702]], [[0.455365379978215]], [[0.41787344704025137]]], "std": [[[0.21733093821202443]], [[0.23770359867900676]], [[0.2521876067521967]]], "count": [226]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5076262501033668]], [[0.46453103961246245]], [[0.43375963022078823]]], "std": [[[0.21298584367345835]], [[0.2305644961796248]], [[0.24132137563122646]]], "count": [226]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1384]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1384]}, "observation.state": {"min": [0.39393745768788835, -4.6808612246480354, 0.6999966141568634, 0.0, 0.0, -1.0, 0.0002806197153404355, -0.06835055336982565, -0.06033148415919376, 0.2454564514246076, -0.9911908507347107, -0.4853455126285553, -0.5036958456039429, 0.00010595489584375173, 0.00921234123413515, -0.040209012574300484], "max": [4.202492047369745, -1.568029911583748, 0.703577326699619, 0.0, 0.0, 0.9998434782028198, 1.0, 0.6420653450031173, 0.11891814100043963, 0.8015921287577281, 0.9904545545578003, 0.3590503931045532, 0.42446863651275635, 0.24919910728931427, 0.04075989788103158, -0.008017478978289463], "mean": [2.3824804122803473, -3.371756663332702, 0.7014917334136775, 0.0, 0.0, -0.22384203094467442, 0.8340742357158152, 0.1746510380936875, 0.003319489504862288, 0.6260526038708991, -0.7821913549751904, 0.05073902469580573, -0.3123827514735271, 0.07368969042556925, 0.031082271730682322, -0.03166132898239895], "std": [1.4318933380279617, 1.1773646143532022, 0.0010114279111595775, 0.0, 0.0, 0.4591546428583152, 0.2083072979473102, 0.23671964172429816, 0.03944430207470642, 0.1723747382240624, 0.4436376886629368, 0.19047124940024282, 0.206243395355905, 0.08342091501663879, 0.009157976160057504, 0.00988313818226434], "count": [1384]}, "action": {"min": [-1.0, -1.0, -0.8685714285714287, 0.0, -1.0, -1.0, -0.40714285714285714, -0.8357142857142857, -0.13428571428571429, -0.44857142857142857, -0.5085714285714286, -1.0], "max": [1.0, 1.0, 0.5057142857142857, 0.0, 1.0, 1.0, 0.4285714285714286, 1.0, 0.15142857142857147, 0.24285714285714288, 0.3057142857142857, 1.0], "mean": [0.28616329479768765, 0.037598059454995864, -0.10180016515276635, 0.0, -0.049132947976878616, -0.002162469033856315, 0.007906688687035507, -0.004490090834021477, 0.004291907514450867, -0.005161023947151116, -0.0031957060280759686, 0.05491329479768786], "std": [0.4852329916711238, 0.4759653621338143, 0.21423928191677893, 0.0, 0.99879224737834, 0.43006201309976305, 0.08792190733620991, 0.3003624724069866, 0.023633590867669398, 0.06611794416999102, 0.06270562806798242, 0.9984911266778786], "count": [1384]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011560693383216858], "std": [0.10689735412597656], "count": [1384]}, "next.done": {"min": [false], "max": [true], "mean": [0.000722543352601156], "std": [0.026870453730906147], "count": [1384]}, "timestamp": {"min": [0.0], "max": [69.15], "mean": [34.575], "std": [19.976314099452882], "count": [1384]}, "frame_index": {"min": [0], "max": [1383], "mean": [691.5], "std": [399.5262819890576], "count": [1384]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1384]}, "index": {"min": [10898], "max": [12281], "mean": [11589.5], "std": [399.5262819890576], "count": [1384]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1384]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5808781682121642]], [[0.5460188807671353]], [[0.5222430486978124]]], "std": [[[0.2132156285914081]], [[0.21852830027180212]], [[0.22372793352270307]]], "count": [257]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5695878184650259]], [[0.5175052877111675]], [[0.4713859455076337]]], "std": [[[0.19941971728550623]], [[0.19177714211201452]], [[0.19880662727106707]]], "count": [257]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5729726255717663]], [[0.5234779998786282]], [[0.4825001966983291]]], "std": [[[0.19460983165339574]], [[0.19118502342903315]], [[0.20431565834264434]]], "count": [257]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1641]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1641]}, "observation.state": {"min": [-1.8142527387138407, -4.32511667600423, 0.6999966375171174, 0.0, 0.0, -0.9999940395355225, 0.0010446957312524319, -0.1519815384217692, -0.46238549176413746, 0.229887470259457, -0.9959689378738403, -0.5300981998443604, -0.6317318081855774, 1.627555684535764e-05, -6.281135125415829e-05, -0.04067790120162893], "max": [4.256759390278037, -0.9022973588485903, 0.7030839453155624, 0.0, 0.0, 0.9999995231628418, 1.0, 0.6079457649474962, 0.005208040717836537, 0.8436967065442177, 0.9866504669189453, 0.5234386920928955, 0.6508621573448181, 0.2229354828596115, 0.04007542994750886, -0.0010022304840353814], "mean": [1.0250343430081266, -1.9041476300918927, 0.701151730849005, 0.0, 0.0, 0.008455358858635518, 0.9246867457901324, 0.08497175724999066, -0.08466749218952509, 0.6867171962130003, 0.07261140531043611, 0.017402194372260812, 0.11443321532322949, 0.07059009186124744, 0.02788245664375223, -0.03228283928187615], "std": [2.3055034445244837, 1.0188941297502023, 0.0010865947082112372, 0.0, 0.0, 0.3111110901443643, 0.21930081690615372, 0.23434044623538666, 0.10706823245976772, 0.18477951780346277, 0.8273189436792534, 0.19784043549361405, 0.49713044199943185, 0.07490443692721885, 0.011172319986055708, 0.010759855851444892], "count": [1641]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.8428571428571429, -1.0, -0.08857142857142856, -0.56, -0.4828571428571429, -1.0], "max": [1.0, 1.0, 0.3914285714285714, 0.0, 1.0, 1.0, 0.9285714285714287, 1.0, 0.2, 0.5428571428571428, 0.2885714285714286, 1.0], "mean": [0.364594759293114, 0.1224471141290154, -0.07119178201445117, 0.0, 0.05423522242535039, -0.006315835292069284, -0.0037128928353791424, -0.008096108644554727, 0.0028240619831113433, -0.001958735962392265, 0.0016784190824410195, 0.10054844606946983], "std": [0.533938175498265, 0.5214125206533351, 0.21204886584328542, 0.0, 0.998528187207785, 0.39226610974561665, 0.16051309736219282, 0.29904251422912126, 0.020314381696368202, 0.09724511201439268, 0.060657300011041304, 0.9949321635131776], "count": [1641]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009750152006745338], "std": [0.0982603058218956], "count": [1641]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006093845216331506], "std": [0.024678192238045807], "count": [1641]}, "timestamp": {"min": [0.0], "max": [82.0], "mean": [41.0], "std": [23.685790395650017], "count": [1641]}, "frame_index": {"min": [0], "max": [1640], "mean": [820.0], "std": [473.7158079130004], "count": [1641]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1641]}, "index": {"min": [12282], "max": [13922], "mean": [13102.0], "std": [473.7158079130004], "count": [1641]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1641]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4765529354095108]], [[0.4619452093644639]], [[0.44702967408721117]]], "std": [[[0.23009932773453115]], [[0.22343542469257638]], [[0.2182495067298017]]], "count": [213]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4337602310721457]], [[0.4222560233265658]], [[0.40701594260980506]]], "std": [[[0.21710050806187986]], [[0.20869132222094947]], [[0.20316787508920606]]], "count": [213]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46499646037671594]], [[0.4518913976287771]], [[0.434191214115396]]], "std": [[[0.21165938651029356]], [[0.20400231418436338]], [[0.19991329547954845]]], "count": [213]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1277]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1277]}, "observation.state": {"min": [0.9786302065236169, -3.203375045557708, 0.6999966711085092, 0.0, 0.0, -1.0, 8.213005742163659e-08, -0.10053213715169917, -0.16964608309070062, 0.2285423664298598, -0.9968763589859009, -0.633371889591217, -0.14902529120445251, 0.0006918036960996687, 0.001178590710072779, -0.040177610512226236], "max": [4.46962276664167, -0.5082339636709969, 0.703261549766163, 0.0, 0.0, 1.0, 0.09113936871290207, 0.698160068473809, 0.21332550002965434, 0.7830105320534723, 0.9971825480461121, 0.631425142288208, 0.526189386844635, 0.3126230537891388, 0.04006157738804846, -0.009067912886802176], "mean": [2.804606253692839, -1.5782858764312693, 0.7007036902386707, 0.0, 0.0, -0.23726562115953784, 0.041822238629258365, 0.18837724685169183, -0.036322594154562536, 0.6015316674687394, 0.6416605687645515, 0.40220319010031436, 0.2715338957264433, 0.14453399467604533, 0.023399926754399315, -0.0248203118442038], "std": [1.4686584218052787, 1.141702239152873, 0.0008323534502052605, 0.0, 0.0, 0.969998639941433, 0.032535997751500116, 0.24660859144735203, 0.07908340862054793, 0.16275273308455343, 0.4644486410353116, 0.2738216640528415, 0.18515322984115987, 0.08313248956341261, 0.013899518772368596, 0.01310429362394569], "count": [1277]}, "action": {"min": [-1.0, -1.0, -0.43428571428571433, 0.0, -1.0, -1.0, -0.8714285714285716, -0.7000000000000001, -0.16285714285714287, -0.4, -0.4314285714285714, -1.0], "max": [1.0, 1.0, 0.3, 0.0, 1.0, 1.0, 0.8785714285714286, 1.0, 0.19428571428571428, 0.38857142857142857, 0.52, 1.0], "mean": [0.09991609799753888, -0.048461796621546, 0.006615952567401278, 0.0, -0.19342208300704777, -0.006052131110862519, -0.00011746280344558336, -0.012411902897415828, -0.0028012081888354416, -0.0006891151135473752, 0.010784204049669989, 0.12764291307752546], "std": [0.4980109552364893, 0.4130872575892095, 0.056856302419350156, 0.0, 0.981115639364297, 0.41357034915551155, 0.17521440717882258, 0.2940059241124385, 0.03476071295140549, 0.08812878916334244, 0.09217071569010764, 0.9918201887142062], "count": [1277]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012529365718364716], "std": [0.11123120784759521], "count": [1277]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007830853563038371], "std": [0.02797270336647103], "count": [1277]}, "timestamp": {"min": [0.0], "max": [63.8], "mean": [31.900000000000002], "std": [18.431901692446168], "count": [1277]}, "frame_index": {"min": [0], "max": [1276], "mean": [638.0], "std": [368.6380338489234], "count": [1277]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1277]}, "index": {"min": [13923], "max": [15199], "mean": [14561.0], "std": [368.6380338489234], "count": [1277]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1277]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6610474914644646]], [[0.5954672749250589]], [[0.5388322932130784]]], "std": [[[0.20962653690832384]], [[0.2525335759352175]], [[0.2533164363671918]]], "count": [204]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6375613727738243]], [[0.6156629454580832]], [[0.5926125766588421]]], "std": [[[0.21150584284917226]], [[0.21263607619665256]], [[0.21775770277003095]]], "count": [204]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6295068875041112]], [[0.6073735566746039]], [[0.584754515592523]]], "std": [[[0.21769752166469836]], [[0.21720917091055394]], [[0.22197772335586177]]], "count": [204]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1203]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1203]}, "observation.state": {"min": [1.0254783545975346, -4.6727924172325315, 0.6999979224651017, 0.0, 0.0, -1.0, 5.5254748332345116e-08, -0.1252358905826938, -0.08188380809451035, 0.236511116605147, -0.9977132678031921, -0.2694392800331116, -0.528607189655304, 0.0002868137671612203, 0.02057057488401703, -0.040327987257840175], "max": [3.215948806312242, -0.7996144289658031, 0.7027690296349082, 0.0, 0.0, 1.0, 0.9999947547912598, 0.5924132787934097, 0.14870543143011306, 0.8171559084599428, 0.9921693205833435, 0.3018084764480591, 0.5825276970863342, 0.09993711113929749, 0.040197754468752345, -0.02049598594352926], "mean": [1.944430263601205, -2.6290440001120334, 0.7011100836461315, 0.0, 0.0, 0.25885693853351743, 0.44863926809258364, 0.10310451240380816, 0.0024938648179980275, 0.6199899979471521, -0.11169816762927365, 0.07005880033583416, 0.056496855989021134, 0.03430851071754897, 0.03412170062317195, -0.034652036765412314], "std": [0.8079342860190245, 1.5682690398969201, 0.0007764153763552936, 0.0, 0.0, 0.7722002355275407, 0.3679982231279073, 0.2325700140191453, 0.04796940063527678, 0.15392239755371423, 0.9146131192940318, 0.1545410534071093, 0.3424260043100251, 0.024303357696607266, 0.006988603521298582, 0.007225676902109748], "count": [1203]}, "action": {"min": [-1.0, -1.0, -0.18285714285714286, 0.0, -1.0, -1.0, -0.5214285714285715, -1.0, -0.1, -0.4542857142857143, -0.3142857142857143, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6571428571428571, 1.0, 0.2142857142857143, 0.6542857142857142, 0.4, 1.0], "mean": [0.23381427383921144, -0.08083363021018879, 0.1146918418240113, 0.0, 0.0457190357439734, 0.0033843961524759633, 0.000855005343783395, -0.0015081344258401695, 0.0035363971024818907, 0.0022681391758698492, 0.003607647547797175, 0.13383208645054032], "std": [0.49249541752480386, 0.487572164950929, 0.23341345490374366, 0.0, 0.9989543381810002, 0.4605410600324002, 0.1042924818604911, 0.33141587014964896, 0.025061175988862688, 0.07760774541833183, 0.05651195441630123, 0.9910040225126673], "count": [1203]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013300083577632904], "std": [0.11455649882555008], "count": [1203]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008312551953449709], "std": [0.028819510928278832], "count": [1203]}, "timestamp": {"min": [0.0], "max": [60.1], "mean": [30.05], "std": [17.363803346809323], "count": [1203]}, "frame_index": {"min": [0], "max": [1202], "mean": [601.0], "std": [347.27606693618645], "count": [1203]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1203]}, "index": {"min": [15200], "max": [16402], "mean": [15801.0], "std": [347.27606693618645], "count": [1203]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1203]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42679773980995234]], [[0.4085506210457864]], [[0.385688648699534]]], "std": [[[0.2238932507235036]], [[0.22365070731192072]], [[0.2252657024388711]]], "count": [206]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4118235575183786]], [[0.3796389478287333]], [[0.36058919003593926]]], "std": [[[0.20479001144719663]], [[0.2130072260593405]], [[0.22594731506737395]]], "count": [206]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4211034757714714]], [[0.39254531526302305]], [[0.3752507170381806]]], "std": [[[0.2105540251706509]], [[0.22102895060424213]], [[0.23328477262386366]]], "count": [206]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1217]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1217]}, "observation.state": {"min": [1.3935358804675522, -3.691135120446203, 0.6999956608997523, 0.0, 0.0, 0.4018094539642334, 0.41853585839271545, -0.09356472971880625, -0.14838571289966707, 0.23533527621715322, -0.99992835521698, -0.08166372776031494, -0.3158377408981323, 2.1210369141044794e-06, 0.01629194459709155, -0.04058069488759796], "max": [3.9056543146750045, -1.0237809600814518, 0.7033190042558486, 0.0, 0.0, 0.9082002639770508, 0.9157233238220215, 0.624094332301929, 0.058476788742242825, 0.850765734798181, 0.9999129176139832, 0.10747748613357544, 0.5448455214500427, 0.06495065987110138, 0.040098792795121255, -0.01536008207073807], "mean": [2.913703366552524, -2.3941925558538246, 0.7018108905343956, 0.0, 0.0, 0.716682337475489, 0.6741745336533769, 0.1730418250914509, -0.07188380330672794, 0.6330126994701407, 0.29134231952731493, 0.004897157080783742, 0.15242266845243221, 0.027340854940743398, 0.03338587653314928, -0.03502103262776014], "std": [0.8631694957759757, 0.9797198380120612, 0.0009913750213942953, 0.0, 0.0, 0.11803171232599523, 0.13387920434096404, 0.23303272905639508, 0.041651673881454174, 0.17458279876861338, 0.9047095908052147, 0.04876968827938616, 0.26427734007599624, 0.019875579524448902, 0.00798475138443749, 0.007491388121846874], "count": [1217]}, "action": {"min": [-1.0, -1.0, -0.6028571428571429, 0.0, -1.0, -1.0, -0.8142857142857143, -0.8500000000000001, -0.18857142857142858, -0.4571428571428572, -0.15428571428571428, -1.0], "max": [1.0, 1.0, 0.6257142857142857, 0.0, 1.0, 1.0, 0.5785714285714286, 1.0, 0.3057142857142857, 0.3914285714285714, 0.05714285714285715, 1.0], "mean": [0.1632409907266111, -0.02953398286183826, 0.005082756192041323, 0.0, -0.10435497124075596, -0.004360840474234041, -0.0008745157882380616, -0.012789059748796766, 0.00019485855147317782, 0.0008193449935438404, 0.00013381852330085717, -0.06984387838948233], "std": [0.5230871263589714, 0.4299746123663436, 0.14165834706757544, 0.0, 0.9945401148155427, 0.47650627547552094, 0.12594198544160612, 0.33262626395937056, 0.02314546110411282, 0.08543205548405815, 0.014019668555422558, 0.9975579344837687], "count": [1217]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01314708311110735], "std": [0.11390451341867447], "count": [1217]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008216926869350862], "std": [0.02865340307997156], "count": [1217]}, "timestamp": {"min": [0.0], "max": [60.8], "mean": [30.400000000000002], "std": [17.565876010037186], "count": [1217]}, "frame_index": {"min": [0], "max": [1216], "mean": [608.0], "std": [351.3175202007438], "count": [1217]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1217]}, "index": {"min": [16403], "max": [17619], "mean": [17011.0], "std": [351.3175202007438], "count": [1217]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1217]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6099578360257155]], [[0.6055077089587487]], [[0.6090979970846975]]], "std": [[[0.23526060005736285]], [[0.2236472842142737]], [[0.23357315732634035]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5867816830155861]], [[0.5578858675206421]], [[0.5411710380961309]]], "std": [[[0.22534925948304976]], [[0.2426185804148697]], [[0.2611188105099745]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5965129685208875]], [[0.5731400305696167]], [[0.5592428771359388]]], "std": [[[0.2229448285593311]], [[0.2376133890813725]], [[0.2526813112314719]]], "count": [201]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1184]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1184]}, "observation.state": {"min": [1.9081198362662437, -5.117954578530226, 0.6999971204301505, 0.0, 0.0, 0.6599711179733276, 0.6805551052093506, -0.09072536326695868, -0.18364659855818033, 0.2469454713969449, -0.9967901706695557, -0.4122468829154968, -0.48843950033187866, 2.4334085537702776e-05, 0.004261996701765001, -0.0404741519363406], "max": [4.953719578224092, -0.9655578238419139, 0.7031467338434361, 0.0, 0.0, 0.7326969504356384, 0.7512909173965454, 0.641388035747747, 0.04549357677615973, 0.840669594275411, 0.9792114496231079, 0.22959688305854797, 0.5833705067634583, 0.10527699440717697, 0.040036929436237635, -0.002814167658403253], "mean": [3.2626753687966126, -3.1730529157966254, 0.7015763747579091, 0.0, 0.0, 0.7006000247658104, 0.7133818858277958, 0.15415404943142344, -0.04082215653803881, 0.6237855680551064, -0.13803827561236717, -0.06928022183175828, 0.05585714354733559, 0.04654350577136883, 0.02907086559320872, -0.02932923144400158], "std": [1.197514108179301, 1.5971720084202665, 0.0009113412406542712, 0.0, 0.0, 0.011244248445422635, 0.010929193100412514, 0.23560390507011814, 0.04883109415770573, 0.17418949847532136, 0.8939448743929989, 0.12090254122482533, 0.3950136624388945, 0.03269117022687749, 0.014361065259243728, 0.014808505001059563], "count": [1184]}, "action": {"min": [-1.0, -1.0, -0.2742857142857143, 0.0, -1.0, -1.0, -0.44285714285714284, -0.942857142857143, -0.1142857142857143, -0.4, -0.4657142857142857, -1.0], "max": [1.0, 1.0, 0.18, 0.0, 1.0, 1.0, 0.5928571428571429, 1.0, 0.08571428571428572, 0.3942857142857143, 0.38857142857142857, 1.0], "mean": [0.12329271235521236, 0.05948962355212359, -0.0004802123552123531, 0.0, -0.07939189189189189, -0.0057311776061776095, -0.005743243243243227, -0.023208252895752873, 0.00014237451737451824, -0.00411196911196911, 0.0007770270270270267, 0.0929054054054054], "std": [0.5577245795664908, 0.44321921670666936, 0.04287914116963259, 0.0, 0.9968434819478095, 0.45920500034314127, 0.08929597927009797, 0.35478817753972913, 0.015412614184307718, 0.0853087907517174, 0.0630168879350336, 0.9956749397501486], "count": [1184]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013513513840734959], "std": [0.11545951664447784], "count": [1184]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008445945945945946], "std": [0.029049634327567297], "count": [1184]}, "timestamp": {"min": [0.0], "max": [59.15], "mean": [29.575000000000003], "std": [17.08956187267538], "count": [1184]}, "frame_index": {"min": [0], "max": [1183], "mean": [591.5], "std": [341.79123745350756], "count": [1184]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1184]}, "index": {"min": [17620], "max": [18803], "mean": [18211.5], "std": [341.79123745350756], "count": [1184]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1184]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45104584937002146]], [[0.4595231574563419]], [[0.4519919523351333]]], "std": [[[0.2537231961562627]], [[0.2203440601587956]], [[0.23604648850614524]]], "count": [200]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49046067121917125]], [[0.47460600490196075]], [[0.452357858396044]]], "std": [[[0.21925331124767053]], [[0.20918453902903686]], [[0.20480451625619855]]], "count": [200]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4841295456231809]], [[0.4694093885234758]], [[0.4479405221378102]]], "std": [[[0.20759184000804118]], [[0.19739377834287403]], [[0.19280556880375468]]], "count": [200]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1172]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1172]}, "observation.state": {"min": [2.397404278982385, -4.572719419958919, 0.6999978825442154, 0.0, 0.0, -0.9998892545700073, 0.014886797405779362, -0.12609282475720882, -0.09528005312529109, 0.24051880552990068, -0.9995041489601135, -0.43941181898117065, -0.5198044180870056, 4.031123353342991e-06, 0.01848292075273691, -0.04050851805708655], "max": [4.783807266731381, -1.0010005531160509, 0.7052152238652171, 0.0, 0.0, 0.9998325109481812, 1.0, 0.6952118104428355, 0.042558425593780314, 0.8431820146314716, 0.9950865507125854, 0.5793743133544922, 0.3655705749988556, 0.25689083337783813, 0.04056581356809649, -0.015354859295351714], "mean": [3.814353314626239, -2.5903304024222895, 0.7020503803223191, 0.0, 0.0, 0.20946054269543424, 0.7276870676994946, 0.17924855508739224, -0.02656497556065087, 0.5944712616904899, -0.8134006963146424, 0.20138738831384392, -0.21706812560395716, 0.0906829877734508, 0.030123873579108822, -0.029118262374575446], "std": [0.7891786529818084, 1.3789949981243992, 0.001517002053191962, 0.0, 0.0, 0.6298092606096463, 0.173026335647768, 0.26449798840435373, 0.02977973732512794, 0.17342484447156725, 0.3721560389262636, 0.23406995577547762, 0.20789361159537054, 0.07727763616020442, 0.008784688066210663, 0.009054843245959452], "count": [1172]}, "action": {"min": [-1.0, -1.0, -0.32, 0.0, -1.0, -1.0, -0.4, -1.0, -0.27714285714285714, -0.6628571428571428, -0.4914285714285715, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5357142857142857, 1.0, 0.15714285714285714, 0.30857142857142855, 0.34285714285714286, 1.0], "mean": [0.17532910775231583, -0.03779254022428084, 0.11689419795221843, 0.0, -0.24232081911262798, -0.011622379327157498, 0.0017918088737201355, -0.029979278400780088, 0.0009678205753291106, -0.005553388590931245, -0.009222330570453437, 0.15358361774744028], "std": [0.43167294120900296, 0.38692283307487274, 0.2583188764624116, 0.0, 0.9701961763605282, 0.509620309964226, 0.07739586681710342, 0.38398595378875977, 0.03764711537277318, 0.10935659671625002, 0.08793190792032679, 0.9881356548367276], "count": [1172]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013651876710355282], "std": [0.11604095250368118], "count": [1172]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008532423208191126], "std": [0.029197847495339033], "count": [1172]}, "timestamp": {"min": [0.0], "max": [58.55], "mean": [29.275000000000002], "std": [16.91635672950887], "count": [1172]}, "frame_index": {"min": [0], "max": [1171], "mean": [585.5], "std": [338.32713459017737], "count": [1172]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1172]}, "index": {"min": [18804], "max": [19975], "mean": [19389.5], "std": [338.32713459017737], "count": [1172]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1172]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4022271794525686]], [[0.3401804410236278]], [[0.32027217107283285]]], "std": [[[0.24972429650316869]], [[0.2246749091575863]], [[0.24895423524375432]]], "count": [223]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4504911242442867]], [[0.3856733497398924]], [[0.3688993837193387]]], "std": [[[0.23790501493492866]], [[0.24006085539610725]], [[0.24956770250684449]]], "count": [223]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4535479876398254]], [[0.37808033265550123]], [[0.35780407271556675]]], "std": [[[0.24066843023830573]], [[0.2440100865148305]], [[0.25516251789318495]]], "count": [223]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1360]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1360]}, "observation.state": {"min": [3.0782853665995127, -4.364957326434178, 0.6999966276397133, 0.0, 0.0, -1.0, 5.677544686477631e-05, -0.09046508158171529, -0.32414824567670175, 0.2430883505572411, -0.9999236464500427, -0.4967902898788452, -0.4885914623737335, 6.315232440101681e-06, 0.013968549054575197, -0.04040459599291511], "max": [6.57278656599808, -0.9656899847796222, 0.7043467398098961, 0.0, 0.0, 1.0, 0.9999423027038574, 0.5973853832940019, 0.05973130888290079, 0.7783921068808313, 0.9999226331710815, 0.4855113625526428, 0.5001660585403442, 0.20313727855682373, 0.04057050497556355, -0.004140482333426106], "mean": [4.914874708537952, -2.1398394358644985, 0.7016840594711292, 0.0, 0.0, 0.14950688503244344, 0.4291573510919507, 0.12208496545117573, -0.029811383551956946, 0.6477448955897523, -0.539284846098984, 0.0491624464849284, -0.2176137078226448, 0.055037928652978296, 0.03426557845159993, -0.03198752778407033], "std": [1.3956441960617492, 1.0487258755103064, 0.0015706162543992783, 0.0, 0.0, 0.8307013455754263, 0.32156949915418026, 0.223053992440811, 0.09771207698284277, 0.16701825567053, 0.7299812512558906, 0.19177405625440053, 0.2905367667093381, 0.04804666994156613, 0.008320836536172533, 0.010811455872902205], "count": [1360]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.8785714285714286, -1.0, -0.31142857142857144, -0.5914285714285714, -0.5, -1.0], "max": [1.0, 1.0, 0.6342857142857142, 0.0, 1.0, 1.0, 0.9, 1.0, 0.16857142857142857, 0.3457142857142857, 0.2057142857142857, 1.0], "mean": [0.33766806722689086, 0.05258928571428573, -0.021214285714285724, 0.0, 0.05, 0.00035714285714284614, -0.0021638655462184802, -0.020425420168067192, -0.00126890756302521, -0.0017121848739495796, -0.005535714285714285, 0.12058823529411765], "std": [0.47610403725070477, 0.5589283461587083, 0.234209281829476, 0.0, 0.9987492177719006, 0.4239210493977074, 0.15094107407183932, 0.31789999331924357, 0.039064829988415616, 0.08916965900362706, 0.04618921413491469, 0.9927026128245197], "count": [1360]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1360]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007352941176470588], "std": [0.027106336163480533], "count": [1360]}, "timestamp": {"min": [0.0], "max": [67.95], "mean": [33.975], "std": [19.62990384591835], "count": [1360]}, "frame_index": {"min": [0], "max": [1359], "mean": [679.5], "std": [392.598076918367], "count": [1360]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1360]}, "index": {"min": [19976], "max": [21335], "mean": [20655.5], "std": [392.598076918367], "count": [1360]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1360]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5584391187286162]], [[0.5026155849191595]], [[0.46838177631670563]]], "std": [[[0.2635571778297148]], [[0.26823926913574697]], [[0.28675477438876584]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5430829471266396]], [[0.4969943260495642]], [[0.46429924328316663]]], "std": [[[0.25584361518311594]], [[0.2539157741931439]], [[0.2597680808715114]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5222668206225374]], [[0.48466488406675845]], [[0.4575844590508901]]], "std": [[[0.2644330683455723]], [[0.2596595755900642]], [[0.26294463398062]]], "count": [209]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1242]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1242]}, "observation.state": {"min": [2.456733744791997, -6.354955702002203, 0.699997855106085, 0.0, 0.0, -0.9999356269836426, 0.006212492007762194, -0.09428494401106668, -0.33027779065203644, 0.24062562315342206, -0.9998621940612793, -0.2521175444126129, -0.41932448744773865, 7.119898509699851e-05, 0.02056548090759367, -0.04023506390188538], "max": [4.168377276695456, -1.5008906939154631, 0.7015299052598973, 0.0, 0.0, 0.9999806880950928, 1.0, 0.5801652632500378, -0.0011209477171827409, 0.7632294892973583, 0.9856871962547302, 0.1487899124622345, 0.39985355734825134, 0.1292818784713745, 0.040299490976517305, -0.020501079904420547], "mean": [3.402769307815591, -3.881052228318567, 0.7004786352109161, 0.0, 0.0, 0.3813863813011618, 0.7356349157725105, 0.13789365538090292, -0.09899037629924672, 0.6161842899246585, -0.20751570037981545, -0.01440976456935471, 0.00473115786900637, 0.03336643064080825, 0.036289944515713164, -0.0376945249009884], "std": [0.6548309215563405, 1.8131999049041063, 0.0003042003221584069, 0.0, 0.0, 0.5212317653389901, 0.20421350733779522, 0.23393905070257526, 0.07585630872735014, 0.1721725305914026, 0.9374857035160646, 0.07893855726769909, 0.263371157190446, 0.033448218811622896, 0.004754577493822292, 0.0027390152711051358], "count": [1242]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.9214285714285714, -1.0, -0.2485714285714286, -0.48571428571428577, -0.18, -1.0], "max": [1.0, 1.0, 0.26857142857142857, 0.0, 1.0, 1.0, 0.7571428571428572, 1.0, 0.15428571428571428, 0.5542857142857143, 0.14, 1.0], "mean": [0.36258914193696806, 0.0019266160570508436, -0.10792270531400959, 0.0, -0.00966183574879227, -0.004554865424430652, -0.0013170002300436977, -0.000707384403036573, 0.002387853692201519, 0.0009109730848861282, -0.001366459627329192, 0.01932367149758454], "std": [0.48864917192803164, 0.3303473824375853, 0.23410486338771233, 0.0, 0.9999533233756244, 0.47272327098222566, 0.15843166943939876, 0.3237352258949957, 0.028349783575064503, 0.07864631348429565, 0.028247521349858102, 0.9998132804278268], "count": [1242]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012882447801530361], "std": [0.11276742070913315], "count": [1242]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008051529790660225], "std": [0.028363792196149016], "count": [1242]}, "timestamp": {"min": [0.0], "max": [62.05], "mean": [31.025000000000002], "std": [17.926720047645823], "count": [1242]}, "frame_index": {"min": [0], "max": [1241], "mean": [620.5], "std": [358.5344009529165], "count": [1242]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1242]}, "index": {"min": [21336], "max": [22577], "mean": [21956.5], "std": [358.5344009529165], "count": [1242]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1242]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5369367401948132]], [[0.5019073552229434]], [[0.47023682104570214]]], "std": [[[0.24112621890449212]], [[0.25602244494662624]], [[0.2724619632656248]]], "count": [227]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5072600451098149]], [[0.45862224045386324]], [[0.4219370068051484]]], "std": [[[0.2046671445950589]], [[0.22921171749293648]], [[0.24934334098193273]]], "count": [227]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4842424587603317]], [[0.4400388529338377]], [[0.4091188426667301]]], "std": [[[0.21291639231451717]], [[0.23162591788633882]], [[0.2457283041284026]]], "count": [227]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1392]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1392]}, "observation.state": {"min": [0.9764620286509139, -3.268651958048524, 0.699997453540001, 0.0, 0.0, -0.9999998807907104, 1.398189084511614e-07, -0.12104631166883006, -0.07716470020651506, 0.22811188170601204, -0.998124897480011, -0.5170155167579651, -0.4361915588378906, 0.0007295047980733216, -0.0003887905630881599, -0.04023597599148784], "max": [4.695261502224442, -0.3844361087317056, 0.7055603057657965, 0.0, 0.0, 1.0, 0.07108018547296524, 0.677916887478168, 0.03660969067174186, 0.8099328280134465, 0.9815646409988403, 0.5615293383598328, 0.5684884786605835, 0.3506266176700592, 0.04147259778290796, 0.00038107432142637577], "mean": [2.78506893398686, -1.570437123997105, 0.7021057105163445, 0.0, 0.0, 0.936272416991749, 0.026173687085437672, 0.19184803809744178, 0.002032747517813458, 0.5905839214876106, -0.4643729544490918, 0.09425496180199258, 0.03834985621648522, 0.10127084649996076, 0.028251336157747498, -0.030238247158311523], "std": [1.447079494532139, 1.2143253473265818, 0.0019091592051173948, 0.0, 0.0, 0.34982093852129803, 0.018281895116312726, 0.2600456399440439, 0.019721741335379007, 0.18526965808984527, 0.769582388334875, 0.2925446818037343, 0.2778023643138822, 0.0934540917927809, 0.01152365761219837, 0.011757901389981154], "count": [1392]}, "action": {"min": [-1.0, -1.0, -0.28285714285714286, 0.0, -1.0, -1.0, -0.4, -0.8428571428571429, -0.06857142857142857, -0.3742857142857143, -0.4285714285714286, -1.0], "max": [1.0, 1.0, 0.2142857142857143, 0.0, 1.0, 1.0, 0.5928571428571429, 1.0, 0.15428571428571428, 0.6285714285714286, 0.16285714285714287, 1.0], "mean": [0.1047978243021346, -0.03032635467980298, -0.0016461412151067317, 0.0, -0.21982758620689655, -0.003166050903119854, 0.006296182266009853, -0.025651683087027904, 0.005447454844006572, -0.004156403940886699, -0.006094006568144498, 0.08477011494252873], "std": [0.4912652985275633, 0.40140115578157065, 0.03992735663829707, 0.0, 0.9755387395395705, 0.44584606974997737, 0.0782122148211894, 0.3359364118737958, 0.022065235418969723, 0.10728220682792762, 0.05428368401455293, 0.9964005357348102], "count": [1392]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01149425283074379], "std": [0.1065933108329773], "count": [1392]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007183908045977011], "std": [0.026793184193924593], "count": [1392]}, "timestamp": {"min": [0.0], "max": [69.55], "mean": [34.775], "std": [20.091784183259254], "count": [1392]}, "frame_index": {"min": [0], "max": [1391], "mean": [695.5], "std": [401.83568366518506], "count": [1392]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1392]}, "index": {"min": [22578], "max": [23969], "mean": [23273.5], "std": [401.83568366518506], "count": [1392]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1392]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5629404453221213]], [[0.5255789638221937]], [[0.4994124831202686]]], "std": [[[0.20572534604612996]], [[0.2129848775032987]], [[0.22467741039753503]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5862787739523342]], [[0.5340759280291454]], [[0.4875754341000948]]], "std": [[[0.19415311937506874]], [[0.18074460341454265]], [[0.1859400120835646]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5444519278785059]], [[0.5116155458765538]], [[0.4813463878530264]]], "std": [[[0.20743697263244326]], [[0.19633797152280683]], [[0.19775199052792342]]], "count": [203]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1195]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1195]}, "observation.state": {"min": [0.6615915932121618, -4.362097106782938, 0.6999958547805756, 0.0, 0.0, -0.023494113236665726, 0.6987059712409973, -0.2159674667291326, -0.23240305265330718, 0.22716128480181652, -0.9971689581871033, -0.4828782379627228, -0.5946181416511536, 2.9579008696600795e-05, 0.0008509150803155695, -0.04110777815601172], "max": [1.4247279975039384, -0.9643378062241588, 0.7038219262134225, 0.0, 0.0, 0.7154089212417603, 1.0, 0.5485375422686913, 0.018989876478312073, 0.8571230301978611, 0.9928886890411377, 0.3037402927875519, 0.4758150279521942, 0.1466318517923355, 0.04007949251133971, -0.007687757600633014], "mean": [1.1383781205156251, -2.1999147821707385, 0.7012042054778064, 0.0, 0.0, 0.31806191544348167, 0.8929404986453355, 0.13076743524920245, -0.06554541585457885, 0.5933678667099813, -0.12373116505195905, -0.05917912661779875, 0.05033584725994336, 0.040667917579245025, 0.027246281065188057, -0.027260651285035534], "std": [0.25336252931147846, 1.0543356483019142, 0.0015685574879433708, 0.0, 0.0, 0.2968671013633396, 0.11560190680187324, 0.23137762092321104, 0.05961383513161581, 0.18269251004488185, 0.9137110121298887, 0.16837758824479077, 0.33540543815579216, 0.03584989522460042, 0.012875141716586266, 0.013094642384857021], "count": [1195]}, "action": {"min": [-1.0, -1.0, -0.84, 0.0, -1.0, -1.0, -0.40714285714285714, -0.9714285714285714, -0.2571428571428571, -0.5485714285714286, -0.6228571428571429, -1.0], "max": [1.0, 1.0, 0.8857142857142857, 0.0, 1.0, 1.0, 0.6785714285714286, 1.0, 0.21714285714285717, 0.5457142857142857, 0.34285714285714286, 1.0], "mean": [0.10637776449491936, 0.034142259414225926, 0.019306634787806354, 0.0, -0.36401673640167365, -0.005941422594142296, -0.004213986849970109, -0.003389121338912137, -0.0002773460848774657, -0.007569635385534963, 0.0022355050806933613, -0.015899581589958158], "std": [0.39131628975519495, 0.31604849322884637, 0.19702678779394597, 0.0, 0.9313924068938287, 0.45348239317170475, 0.1001874853123598, 0.3244735212417585, 0.03271128411739119, 0.10426754624077932, 0.08434180839644073, 0.9998735936633638], "count": [1195]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013389121741056442], "std": [0.11493412405252457], "count": [1195]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008368200836820083], "std": [0.028915736473926354], "count": [1195]}, "timestamp": {"min": [0.0], "max": [59.7], "mean": [29.85], "std": [17.248333252810255], "count": [1195]}, "frame_index": {"min": [0], "max": [1194], "mean": [597.0], "std": [344.9666650562051], "count": [1195]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1195]}, "index": {"min": [23970], "max": [25164], "mean": [24567.0], "std": [344.9666650562051], "count": [1195]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1195]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4723607058641387]], [[0.40134580417890287]], [[0.3756621438769391]]], "std": [[[0.2469058928539728]], [[0.2522066026123043]], [[0.24459758604742815]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42654398892154993]], [[0.383005140788928]], [[0.35372049675553335]]], "std": [[[0.23955298562172508]], [[0.22863530491050454]], [[0.23098125340784476]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4566758686432366]], [[0.4252488421709671]], [[0.4045740925347845]]], "std": [[[0.24980891981260653]], [[0.2452890380499848]], [[0.2493920915112695]]], "count": [205]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1216]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1216]}, "observation.state": {"min": [0.602695676978201, -4.460637312036749, 0.6999948388582579, 0.0, 0.0, -0.9997653365135193, 0.011527584865689278, -0.15305630639644896, -0.18984528273533474, 0.24009734342922318, -0.9902662038803101, -0.725367546081543, -0.5750998854637146, 2.953524744953029e-05, 0.019266029115872198, -0.040910016810695005], "max": [1.4169042336575375, -0.9774265296450763, 0.7032658761624687, 0.0, 0.0, 0.9999336004257202, 1.0, 0.5308758333179173, 0.07409878729637764, 0.8202013587166703, 0.9813737273216248, 0.7120028138160706, 0.4835677444934845, 0.1983967274427414, 0.04008874426133321, -0.020537012836152068], "mean": [1.150289957390095, -2.392527027013643, 0.7013088731154308, 0.0, 0.0, 0.2819611701940201, 0.8610025470047012, 0.13114123220173404, -0.05760647564186177, 0.5985359607641986, -0.4629674053897983, -0.0440515351947397, -0.19132800814584602, 0.062067919753031366, 0.031450758796274084, -0.036901031086878644], "std": [0.24708599852781443, 1.0550620077084667, 0.0009763402077893198, 0.0, 0.0, 0.3877781704902096, 0.1697074608974409, 0.22311570907639472, 0.06122348563086415, 0.17464709393661085, 0.7523560365876625, 0.2878101266652647, 0.3050515377546826, 0.03648422194668241, 0.007914291303795356, 0.004567311799303048], "count": [1216]}, "action": {"min": [-1.0, -0.6142857142857143, -1.0, 0.0, -1.0, -1.0, -0.5285714285714286, -0.8357142857142857, -0.17714285714285713, -0.5371428571428571, -0.46857142857142864, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.4785714285714286, 1.0, 0.2257142857142857, 0.35714285714285715, 0.4885714285714286, 1.0], "mean": [0.08573190789473684, 0.029992951127819575, -0.05599389097744355, 0.0, -0.27631578947368424, -0.004570018796992484, -0.014890742481202996, -0.006819783834586454, 0.004076597744360901, -0.003376409774436092, 0.0021193609022556385, 0.019736842105263157], "std": [0.43280708602023543, 0.22238491020174542, 0.28644181754617776, 0.0, 0.9610668990697506, 0.440534504401601, 0.09515534467521805, 0.3429260651090208, 0.03450407108132494, 0.08600127529404145, 0.10191107956207561, 0.9998052095601953], "count": [1216]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01315789483487606], "std": [0.113950714468956], "count": [1216]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008223684210526315], "std": [0.02866517279265358], "count": [1216]}, "timestamp": {"min": [0.0], "max": [60.75], "mean": [30.375], "std": [17.551442248430753], "count": [1216]}, "frame_index": {"min": [0], "max": [1215], "mean": [607.5], "std": [351.0288449686151], "count": [1216]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1216]}, "index": {"min": [25165], "max": [26380], "mean": [25772.5], "std": [351.0288449686151], "count": [1216]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1216]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.502019931454374]], [[0.4814746856280721]], [[0.44619694113744157]]], "std": [[[0.26157522957589596]], [[0.2287190971759904]], [[0.24871928365862572]]], "count": [183]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45359757285555957]], [[0.4459782249608454]], [[0.4264741693830025]]], "std": [[[0.22486389393811648]], [[0.20251865623123755]], [[0.20168325391072456]]], "count": [183]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48845967695693376]], [[0.4767515991171699]], [[0.45397386999486866]]], "std": [[[0.22993440073503726]], [[0.2181580054418013]], [[0.22520252342475067]]], "count": [183]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1041]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1041]}, "observation.state": {"min": [2.491784662737022, -4.492613536027301, 0.6999973619623129, 0.0, 0.0, 0.6020593047142029, 0.5982651710510254, -0.13798618162927667, -0.25533023744466554, 0.24575605981419957, -0.9977760910987854, -0.3174460828304291, -0.43715256452560425, 1.2388698451104574e-05, 0.006002583543599352, -0.040502720943174954], "max": [4.322389606421232, -0.9863163282554689, 0.7029185514633481, 0.0, 0.0, 0.8012980818748474, 0.7984514236450195, 0.5153944571614131, 0.3157755906478261, 0.7682173098004031, 0.9955262541770935, 0.17071747779846191, 0.42496922612190247, 0.11211003363132477, 0.04022356232165113, -0.004131253407456941], "mean": [3.599001366000219, -2.6572811776973277, 0.7017628820827971, 0.0, 0.0, 0.6879539462262684, 0.7247933394970743, 0.10635462525446367, -0.032565366521684264, 0.6009867669226034, 0.31078195337145287, -0.015179681839505488, 0.1172111660663569, 0.02111100576875603, 0.030112272022605798, -0.03064259966780967], "std": [0.7621846971958869, 1.390863655458113, 0.0006631767750532079, 0.0, 0.0, 0.02723058972826849, 0.025543722373756243, 0.2090190655984034, 0.12513635825295744, 0.16267184691563838, 0.9077460325158397, 0.12821005657185652, 0.2195143112763633, 0.019308208804435602, 0.011606493153227943, 0.011245488255148576], "count": [1041]}, "action": {"min": [-1.0, -1.0, -0.5657142857142857, 0.0, -1.0, -1.0, -0.8214285714285715, -0.8714285714285716, -0.18285714285714286, -0.3942857142857143, -0.24285714285714288, -1.0], "max": [1.0, 1.0, 0.8371428571428572, 0.0, 1.0, 1.0, 0.9857142857142858, 1.0, 0.22, 0.5314285714285715, 0.19142857142857142, 1.0], "mean": [0.12022094140249762, -0.04374914230822005, -0.005275147522986142, 0.0, -0.13160422670509125, -0.009345409633594077, -1.3723068478105792e-05, -0.00628516536297516, 0.0005571565802113352, 0.00038973514477837104, 1.3723068478112631e-05, 0.10278578290105668], "std": [0.5425898493642459, 0.37347556966626705, 0.10532771621479918, 0.0, 0.9913023391041395, 0.4611922052420236, 0.21814802913232975, 0.3401789748194681, 0.024952881790900078, 0.07463286894554327, 0.043321755487253685, 0.9947035150402521], "count": [1041]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015369836241006851], "std": [0.12301871925592422], "count": [1041]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009606147934678194], "std": [0.03097889624706455], "count": [1041]}, "timestamp": {"min": [0.0], "max": [52.0], "mean": [26.0], "std": [15.025533823018291], "count": [1041]}, "frame_index": {"min": [0], "max": [1040], "mean": [520.0], "std": [300.51067646036586], "count": [1041]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1041]}, "index": {"min": [26381], "max": [27421], "mean": [26901.0], "std": [300.51067646036586], "count": [1041]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1041]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4298017819232978]], [[0.3917539862266692]], [[0.3711137895943411]]], "std": [[[0.2420733498707596]], [[0.23455157644817246]], [[0.23246323407991176]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46866853489007887]], [[0.39381611452689097]], [[0.3735665422679829]]], "std": [[[0.24331257090790034]], [[0.248179227323899]], [[0.25921487472390237]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.459102036069152]], [[0.3747991948998595]], [[0.3521179612761539]]], "std": [[[0.24116217580638086]], [[0.24221022897478123]], [[0.2530664432752493]]], "count": [191]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1100]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1100]}, "observation.state": {"min": [2.1405735933461125, -4.9253389463753185, 0.6999974928230998, 0.0, 0.0, 0.688876748085022, 0.6575199961662292, -0.04961446593300134, -0.017528308852742924, 0.23373071676303814, -0.9993621110916138, -0.13573956489562988, -0.48271772265434265, 0.0003270269953645766, 0.016147811042035224, -0.04008515005552336], "max": [5.134879275005226, -0.9702186157974578, 0.7021416289822788, 0.0, 0.0, 0.7534371614456177, 0.7248784899711609, 0.5948337833724429, 0.06111595181540075, 0.8160664201623602, 0.9997536540031433, 0.13656309247016907, 0.498527467250824, 0.05301285535097122, 0.04069230171334718, -0.008635359696293865], "mean": [3.405653383848968, -3.2164393687736945, 0.7013582963226698, 0.0, 0.0, 0.7169759087129073, 0.6964375312761827, 0.17275040101075967, 0.018949423924353045, 0.5904256932173312, -0.4527287763899023, -0.02465960636904294, -0.1334851215558063, 0.021392116752738895, 0.03400808042348256, -0.030838983085852804], "std": [1.1939873060928887, 1.5643927723171018, 0.0005068926721356783, 0.0, 0.0, 0.02086619223952205, 0.02202097738904727, 0.20282577806932206, 0.01759082232354091, 0.15730477038484092, 0.8297208245717607, 0.062602347564354, 0.2893093360278471, 0.009852394505407728, 0.008741050903846945, 0.00973860504036379], "count": [1100]}, "action": {"min": [-1.0, -1.0, -0.2285714285714286, 0.0, -1.0, -1.0, -0.4, -1.0, -0.09142857142857143, -0.44285714285714284, -0.06857142857142857, -1.0], "max": [1.0, 1.0, 0.43428571428571433, 0.0, 1.0, 1.0, 0.5785714285714286, 1.0, 0.11714285714285716, 0.4571428571428572, 0.10571428571428572, 1.0], "mean": [0.14356493506493503, 0.07618831168831164, 0.0007194805194805205, 0.0, -0.012727272727272728, -0.014155844155844168, 0.005512987012987009, -0.007974025974025975, 0.0007870129870129873, -0.0018129870129870145, 0.0015740259740259748, 0.04], "std": [0.5744006394299189, 0.44892256892197235, 0.05310662403705654, 0.0, 0.999919004984368, 0.4640849534160556, 0.06269671320077193, 0.335303223432847, 0.01241446797132124, 0.09553672568068526, 0.012746173085221852, 0.999199679743742], "count": [1100]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014545454643666744], "std": [0.11972420662641525], "count": [1100]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009090909090909091], "std": [0.03013742628045596], "count": [1100]}, "timestamp": {"min": [0.0], "max": [54.95], "mean": [27.475], "std": [15.87712584191484], "count": [1100]}, "frame_index": {"min": [0], "max": [1099], "mean": [549.5], "std": [317.54251683829676], "count": [1100]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1100]}, "index": {"min": [27422], "max": [28521], "mean": [27971.5], "std": [317.54251683829676], "count": [1100]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1100]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6308361979738707]], [[0.5848813829270284]], [[0.5415641548513322]]], "std": [[[0.21016173910411576]], [[0.2075636555935132]], [[0.21999237293036925]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6464576445520842]], [[0.5884454446562799]], [[0.5467955933294603]]], "std": [[[0.1966407087102543]], [[0.23127193320802478]], [[0.25145446577231106]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6122396717737189]], [[0.5689310077380746]], [[0.5370607888629484]]], "std": [[[0.21188505634967864]], [[0.22850765507280277]], [[0.23971594702783114]]], "count": [159]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [865]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [865]}, "observation.state": {"min": [0.9811874234740501, -3.9555556755898373, 0.6999986264246095, 0.0, 0.0, -0.9999997615814209, 0.0001468601549277082, -0.14930078673105407, -0.18184365563189542, 0.22804547569923317, -0.9972842335700989, -0.12061536312103271, -0.5309533476829529, 8.116076060105115e-06, 0.012779595726523112, -0.04016382919798018], "max": [2.754929902530068, -2.8109687227992133, 0.702423002386725, 0.0, 0.0, 1.0, 0.866851270198822, 0.5846648607175582, 0.01502471552943252, 0.8904749326518122, 0.999221682548523, 0.1351582109928131, 0.5371528267860413, 0.04670201987028122, 0.04049292882266612, -0.012074539543158711], "mean": [1.7224352034626826, -3.3201894992290053, 0.701106748741674, 0.0, 0.0, 0.8034437610579364, 0.3732393739555425, 0.1736759030633284, -0.05628019575902803, 0.6287263910793972, -0.15991410837008085, 0.008494503361124523, -0.07634041150601183, 0.014931257837223832, 0.028649375410933334, -0.030070943557586532], "std": [0.6794237757860058, 0.3919574336781557, 0.0008479912275097429, 0.0, 0.0, 0.3406860187780059, 0.3148071305937566, 0.2159888688346128, 0.0484570262043436, 0.1980275751807755, 0.9017992768087352, 0.0654299097014172, 0.3881410361940339, 0.011316179884152698, 0.010306423649158103, 0.009273718508746387], "count": [865]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.7785714285714286, -1.0, -0.06857142857142857, -0.37142857142857144, -0.15428571428571428, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6428571428571428, 1.0, 0.09142857142857143, 0.32, 0.12285714285714287, 1.0], "mean": [0.0890916597853014, -0.049768786127167584, 0.040336911643270044, 0.0, -0.3179190751445087, -0.00933113129644923, -0.005334434351775389, 0.02076796036333607, 0.0018199834847233694, -0.0005846407927332796, 0.0004723369116432677, 0.1375722543352601], "std": [0.3643621794038368, 0.4059778843295297, 0.2632029817014663, 0.0, 0.9481178521994322, 0.494217107584882, 0.13077061137417653, 0.40477046517400445, 0.012225715721478481, 0.07727436455737274, 0.026889444099206326, 0.9904917338560227], "count": [865]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018497109413146973], "std": [0.13474036753177643], "count": [865]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011560693641618498], "std": [0.03398136059352386], "count": [865]}, "timestamp": {"min": [0.0], "max": [43.2], "mean": [21.6], "std": [12.485191228010885], "count": [865]}, "frame_index": {"min": [0], "max": [864], "mean": [432.0], "std": [249.70382456021773], "count": [865]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [865]}, "index": {"min": [28522], "max": [29386], "mean": [28954.0], "std": [249.70382456021773], "count": [865]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [865]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5019943028966843]], [[0.4350631897141833]], [[0.40493621465888385]]], "std": [[[0.27728134898240797]], [[0.27261194412253636]], [[0.2867140070419599]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4416044334894871]], [[0.4175297849808076]], [[0.40259944914596646]]], "std": [[[0.23852855989147928]], [[0.2450811669406001]], [[0.2545379382625687]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4521102468233899]], [[0.42788161440388084]], [[0.4129897092257837]]], "std": [[[0.23180620009306258]], [[0.23983420543879355]], [[0.24937303425806534]]], "count": [191]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1105]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1105]}, "observation.state": {"min": [2.1702750533770185, -4.540649292343808, 0.6999960559587446, 0.0, 0.0, 0.6916860342025757, 0.5620866417884827, -0.01133853196346113, -0.2919913191333774, 0.2322083141190323, -0.9954833388328552, -0.5397129058837891, -0.3411707282066345, 4.272034493624233e-05, 0.016469741607399602, -0.04068413376709572], "max": [4.2793982684305565, -0.9899999252374814, 0.7052788659390048, 0.0, 0.0, 0.8270784020423889, 0.7221982479095459, 0.5614241426588031, 0.0618745414951023, 0.6855803089032617, 0.9956315755844116, 0.9152838587760925, 0.4188438951969147, 0.3365781903266907, 0.040235291873695025, -0.009694716676727026], "mean": [3.4345347645724464, -2.788940908638326, 0.7019763682138777, 0.0, 0.0, 0.7586636407342972, 0.647425743033983, 0.16432057251474658, -0.047006040073541935, 0.5653961457296933, 0.4910300887008598, 0.24922996317099663, 0.15668798530994751, 0.09596208126821945, 0.028824939850323004, -0.03315285442569819], "std": [0.8849304599178793, 1.3958243690322558, 0.0016138450883059676, 0.0, 0.0, 0.04655997015702, 0.055691575682829376, 0.18173344446240758, 0.07173070628336599, 0.12388383185343166, 0.6824120619843772, 0.4115965881091344, 0.14864776344395444, 0.07628825763701542, 0.009955979250224732, 0.008929742497346772], "count": [1105]}, "action": {"min": [-1.0, -1.0, -0.5714285714285714, 0.0, -1.0, -1.0, -0.6714285714285714, -0.9214285714285714, -0.23142857142857146, -0.5828571428571429, -0.5542857142857143, -1.0], "max": [1.0, 1.0, 0.48, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2857142857142857, 0.44571428571428573, 0.41714285714285715, 1.0], "mean": [0.13669683257918544, -0.01346477052359407, 0.011622495151906916, 0.0, -0.11855203619909502, -0.007032967032967034, 0.008228829993535866, -0.020795087265675506, 0.0038965740142210734, -0.005510019392372334, -0.0029347123464770596, 0.08778280542986425], "std": [0.5597039362309949, 0.41124883870119805, 0.07414256554687913, 0.0, 0.9929478408824163, 0.46893981463392037, 0.1569827088272558, 0.31851703749804505, 0.04219131586966138, 0.0978420916913447, 0.1147787421487128, 0.9961396383393486], "count": [1105]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014479638077318668], "std": [0.11945702135562897], "count": [1105]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009049773755656109], "std": [0.0300692266530971], "count": [1105]}, "timestamp": {"min": [0.0], "max": [55.2], "mean": [27.6], "std": [15.949294655250434], "count": [1105]}, "frame_index": {"min": [0], "max": [1104], "mean": [552.0], "std": [318.98589310500864], "count": [1105]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1105]}, "index": {"min": [29387], "max": [30491], "mean": [29939.0], "std": [318.98589310500864], "count": [1105]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1105]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4860381472894477]], [[0.47558102341900876]], [[0.4735348975369674]]], "std": [[[0.24297096368348384]], [[0.23041388807155147]], [[0.24020879435057207]]], "count": [204]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44013126759013965]], [[0.4087438481443435]], [[0.39400065743616114]]], "std": [[[0.23483781885705288]], [[0.23266802694897692]], [[0.24213486042294377]]], "count": [204]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4493715608179546]], [[0.42187114805040427]], [[0.4091920934058941]]], "std": [[[0.2385952497272909]], [[0.2375686834076048]], [[0.2456719393172183]]], "count": [204]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1204]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1204]}, "observation.state": {"min": [1.1012430634500014, -3.895736381672032, 0.6999979910388415, 0.0, 0.0, -1.0, 1.291940492365029e-07, -0.10311701309855259, -0.09154476532512024, 0.23007169863322396, -0.9949459433555603, -0.29550567269325256, -0.5134546160697937, 0.00012434597010724247, 0.001341805704446173, -0.04025325246494041], "max": [4.468102764236055, -0.5316799547586883, 0.7009432129020539, 0.0, 0.0, 1.0, 0.9999842643737793, 0.591933494740629, 0.08390051382646613, 0.8179314552144291, 0.9462409615516663, 0.6980260610580444, 0.501274049282074, 0.48603934049606323, 0.040065720840805764, -0.0023897069574475645], "mean": [2.690858144606678, -1.9727991150122166, 0.700445529071739, 0.0, 0.0, 0.2381357810575286, 0.3644067031309746, 0.1323014715733386, -0.029414084062626657, 0.6540039501037543, -0.7006000837812392, 0.12247926233169248, -0.32101734429659734, 0.17108368590416403, 0.02567873863570692, -0.026776432144683397], "std": [1.1165706575404, 1.2554566398750033, 0.0003020723055386464, 0.0, 0.0, 0.8359598002493618, 0.33417109699375536, 0.22624947642527246, 0.038278756145820055, 0.17646450952505105, 0.3958668079390235, 0.3649925817958359, 0.20519268835849133, 0.17263381854628648, 0.013024297779276533, 0.013471766263369588], "count": [1204]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.5714285714285715, -0.9, -0.06285714285714286, -0.40571428571428575, -0.32, -1.0], "max": [1.0, 1.0, 0.9714285714285715, 0.0, 1.0, 1.0, 0.6, 1.0, 0.4257142857142857, 0.4285714285714286, 0.23142857142857146, 1.0], "mean": [0.33297342192691026, 0.04693877551020404, -0.1108115804461319, 0.0, 0.008305647840531562, 0.0038383958234456473, 0.0008839582344565767, 0.01897247271001424, 0.010258661604176551, -0.005823445657332701, -0.007308970099667779, 0.10465116279069768], "std": [0.4997153539607948, 0.4695818401491836, 0.29487612306394334, 0.0, 0.999965507512111, 0.4504009464141648, 0.08391274392339455, 0.33895524113093034, 0.04728245371791882, 0.08653280446978628, 0.06395940652724985, 0.9945089914759754], "count": [1204]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013289036229252815], "std": [0.11450955271720886], "count": [1204]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008305647840531562], "std": [0.028807550159509344], "count": [1204]}, "timestamp": {"min": [0.0], "max": [60.15], "mean": [30.075000000000003], "std": [17.37823710852168], "count": [1204]}, "frame_index": {"min": [0], "max": [1203], "mean": [601.5], "std": [347.56474217043365], "count": [1204]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1204]}, "index": {"min": [30492], "max": [31695], "mean": [31093.5], "std": [347.56474217043365], "count": [1204]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1204]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5885289107394963]], [[0.557836409802783]], [[0.5205765257301189]]], "std": [[[0.22285664071772734]], [[0.21283076276078014]], [[0.23137997406025615]]], "count": [185]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5025459193324183]], [[0.5082064022029842]], [[0.49341452399952807]]], "std": [[[0.21502516282738282]], [[0.19197946843297545]], [[0.18205721696980678]]], "count": [185]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4916466618847708]], [[0.509113494274663]], [[0.5052350665377003]]], "std": [[[0.22616199023742872]], [[0.18796501014103992]], [[0.1722237441278409]]], "count": [185]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1055]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1055]}, "observation.state": {"min": [1.2618679450608394, -3.8443733941642475, 0.6999941647863342, 0.0, 0.0, -0.06602839380502701, 0.5956109166145325, -0.06343263404740185, -0.169130915883839, 0.22714164197349662, -0.9965628981590271, -0.14336907863616943, -0.6232995390892029, 1.2190074812679086e-05, 0.009786540283306692, -0.04016324913825785], "max": [3.7401134475300815, -2.735928799038447, 0.7030717679663986, 0.0, 0.0, 0.80327308177948, 1.0, 0.7469055621466434, 0.05252267961080609, 0.7795658212239015, 0.9504884481430054, 0.17310810089111328, 0.5372095704078674, 0.08565626293420792, 0.04018201480346648, -0.012930992127037758], "mean": [2.5415601923076285, -3.193311599045546, 0.7014067187231137, 0.0, 0.0, 0.3552695603000791, 0.8470157889958242, 0.26394186179785883, -0.03383420494218313, 0.6064955680582172, -0.044141277317752206, 0.04155949470697421, 0.03834984263618172, 0.03653403851945441, 0.02724502376972782, -0.027239355371322306], "std": [1.0581207127667613, 0.3916011994828573, 0.0009743377992820486, 0.0, 0.0, 0.35793313972387447, 0.16802281662715102, 0.27975482629529524, 0.04704150795365053, 0.17647490547907577, 0.9080795059583266, 0.08866704425700686, 0.4005234846205123, 0.025092152542611046, 0.011234810884263037, 0.011103610830563536], "count": [1055]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.6785714285714286, -0.9285714285714287, -0.14285714285714285, -0.5314285714285715, -0.2571428571428571, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.4928571428571429, 1.0, 0.10857142857142858, 0.32, 0.14, 1.0], "mean": [0.12356127285037236, 0.06563981042654031, -0.025971563981042653, 0.0, -0.28720379146919434, -0.003310765064319581, -0.0018212593094109704, -0.012972241029113072, 0.0012268111035883549, -0.0056628300609343285, -0.0007989167230873378, 0.0881516587677725], "std": [0.4687717211844448, 0.3041345555828961, 0.2417078936156927, 0.0, 0.9578695016366897, 0.5907101675375904, 0.10789745810284407, 0.3809277168062215, 0.020282650955355464, 0.08742852088536548, 0.029932187839068272, 0.9961070650570168], "count": [1055]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01611374318599701], "std": [0.12591302394866943], "count": [1055]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009478672985781991], "std": [0.03077285892084915], "count": [1055]}, "timestamp": {"min": [0.0], "max": [52.7], "mean": [26.35], "std": [15.227606509231844], "count": [1055]}, "frame_index": {"min": [0], "max": [1054], "mean": [527.0], "std": [304.55213018463684], "count": [1055]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1055]}, "index": {"min": [31696], "max": [32750], "mean": [32223.0], "std": [304.55213018463684], "count": [1055]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1055]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5284997546917968]], [[0.48303349229036363]], [[0.44998557274561646]]], "std": [[[0.18637718375385026]], [[0.19592909685891344]], [[0.21328113660501472]]], "count": [164]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4313580068317342]], [[0.4063693648146306]], [[0.39149138762128805]]], "std": [[[0.194740129781787]], [[0.19422880777012233]], [[0.20365191368868096]]], "count": [164]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4713040625974928]], [[0.45256245712068655]], [[0.4411010205831213]]], "std": [[[0.2003518363232597]], [[0.2035834099599344]], [[0.21239264791177195]]], "count": [164]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [899]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [899]}, "observation.state": {"min": [0.9586792809563673, -4.025520782897378, 0.6999989016221654, 0.0, 0.0, -1.0, 0.00014583783922716975, -0.06926680993277667, -0.25235485679777314, 0.29276941918456056, -0.9990332126617432, -0.16587412357330322, -0.3978012502193451, 7.147544965846464e-05, 0.0072233649605648225, -0.04050015578779653], "max": [2.7039500791610522, -2.973544731333939, 0.7027638480674393, 0.0, 0.0, 0.9999622106552124, 0.7853609919548035, 0.4734347708381509, 0.03197201041644515, 0.7801212401318799, 0.9996111989021301, 0.14056804776191711, 0.45386800169944763, 0.2539801597595215, 0.04005128793123886, -0.01746677600223891], "mean": [1.5877609823464358, -3.1458072561939803, 0.7010319092338294, 0.0, 0.0, 0.49700640571263266, 0.380892898866353, 0.16884759062139287, -0.11145331273155705, 0.5918665191078833, 0.11822568680738846, -0.014828575915917009, 0.04546066093982692, 0.054572157431791085, 0.03504443525484435, -0.03429331050165534], "std": [0.6518564064514598, 0.16513776834809027, 0.0009269022274351337, 0.0, 0.0, 0.7088879966242564, 0.3246275308722299, 0.1926730856062817, 0.08558927598818218, 0.14234314054615058, 0.9492748886449937, 0.07571682632586704, 0.2628451392806618, 0.0693872336200481, 0.007359524727308586, 0.007494230703108868], "count": [899]}, "action": {"min": [-1.0, -1.0, -0.76, 0.0, -1.0, -1.0, -0.4714285714285715, -0.5857142857142857, -0.1742857142857143, -0.43428571428571433, -0.12, -1.0], "max": [1.0, 1.0, 0.9685714285714285, 0.0, 1.0, 0.8857142857142857, 0.5214285714285715, 1.0, 0.18285714285714286, 0.2742857142857143, 0.14, 1.0], "mean": [0.08933735897028446, 0.034784681392022884, 0.03578579373907517, 0.0, -0.41490545050055616, -0.011067853170189086, -0.014762434450977304, -0.01724137931034488, 0.003203559510567298, -0.003127284284125216, 0.0012235817575083421, 0.0055617352614015575], "std": [0.3664198510476664, 0.29120243236276955, 0.2400820913018837, 0.0, 0.9098645323040928, 0.44903098440657546, 0.13670778797498406, 0.30451604455873615, 0.026546688127066332, 0.09314264867711405, 0.026184780955752017, 0.9999845334308326], "count": [899]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017797552049160004], "std": [0.1322149783372879], "count": [899]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011123470522803114], "std": [0.033333312711394204], "count": [899]}, "timestamp": {"min": [0.0], "max": [44.9], "mean": [22.45], "std": [12.97593927236098], "count": [899]}, "frame_index": {"min": [0], "max": [898], "mean": [449.0], "std": [259.5187854472196], "count": [899]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [899]}, "index": {"min": [32751], "max": [33649], "mean": [33200.0], "std": [259.5187854472196], "count": [899]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [899]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6174471701885462]], [[0.5782708723599765]], [[0.5545666856005493]]], "std": [[[0.2190814635677685]], [[0.21918372522168644]], [[0.2284531773582316]]], "count": [259]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5731140686585022]], [[0.5502510823401362]], [[0.5235269771047144]]], "std": [[[0.2239357472313184]], [[0.21514879154812572]], [[0.2104583520874738]]], "count": [259]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.58427097754616]], [[0.5607819594661133]], [[0.5341720637658568]]], "std": [[[0.22310803062494064]], [[0.21829425148526901]], [[0.21598796916906668]]], "count": [259]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1656]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1656]}, "observation.state": {"min": [1.0389318807609433, -7.95071208623949, 0.6999969118772965, 0.0, 0.0, -1.0, 9.984969437937252e-06, -0.11049255163240934, -0.10369405365804862, 0.23722787857099015, -0.9961219429969788, -0.8208536505699158, -0.5670399069786072, 2.4723181923036464e-05, 0.017814645874135688, -0.040390904364602874], "max": [3.957148755215819, -1.0893378606770368, 0.7033304099260465, 0.0, 0.0, 1.0, 0.7339398264884949, 0.60603294167124, 0.018808728300352406, 0.8003825884157246, 0.9766199588775635, 0.8246697783470154, 0.49170994758605957, 0.25185084342956543, 0.04007384425647649, -0.015543568112299223], "mean": [2.4652344968155213, -4.6828711853655705, 0.7008140431858537, 0.0, 0.0, 0.5946659493633515, 0.43044407617532127, 0.1282655788717277, -0.029037791243292997, 0.6296655800042223, -0.6823201296482109, 0.03149808796149665, -0.356339039392505, 0.03747908730702734, 0.03397960931826586, -0.03185933590646788], "std": [0.890237015702833, 2.2745325757906913, 0.0008389308111950578, 0.0, 0.0, 0.5961121289245039, 0.32517786535335835, 0.21780248549991774, 0.028386415438663094, 0.17123955664816043, 0.5687628634237712, 0.21120716836705464, 0.1896072145842833, 0.031849011323610524, 0.0062667648817150085, 0.007473548384732452], "count": [1656]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.39285714285714285, -0.9642857142857144, -0.40571428571428575, -0.48571428571428577, -0.3485714285714286, -1.0], "max": [1.0, 1.0, 0.7314285714285714, 0.0, 1.0, 1.0, 0.4857142857142857, 1.0, 0.3457142857142857, 0.5142857142857142, 0.5314285714285715, 1.0], "mean": [0.1123706004140786, 0.0012853692201518637, -0.015655624568668057, 0.0, 0.12560386473429952, -0.014419427191166314, -0.003567115251897856, -0.013867322291235348, -0.005024154589371981, -0.002379227053140094, -0.0025603864734299506, 0.14251207729468598], "std": [0.6651825797703468, 0.4623018071126145, 0.17739234337418955, 0.0, 0.9920804751449394, 0.3869048582451715, 0.06972299440685092, 0.277691299908471, 0.05070105882405664, 0.0804901143841287, 0.07565775639066413, 0.9897930631324662], "count": [1656]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009661835618317127], "std": [0.09781862795352936], "count": [1656]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006038647342995169], "std": [0.024566238655565207], "count": [1656]}, "timestamp": {"min": [0.0], "max": [82.75], "mean": [41.375], "std": [23.902296786431773], "count": [1656]}, "frame_index": {"min": [0], "max": [1655], "mean": [827.5], "std": [478.04593572863547], "count": [1656]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1656]}, "index": {"min": [33650], "max": [35305], "mean": [34477.5], "std": [478.04593572863547], "count": [1656]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1656]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5382042690551739]], [[0.498954440640611]], [[0.46445677217261694]]], "std": [[[0.22504670659371023]], [[0.2563477477105785]], [[0.28574502557688475]]], "count": [262]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48777999523923954]], [[0.4127878765488185]], [[0.37667935752097836]]], "std": [[[0.20303630507997872]], [[0.2450854646218782]], [[0.2691967489260337]]], "count": [262]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4934527623976371]], [[0.42512474157124686]], [[0.392577181289232]]], "std": [[[0.20264094301470803]], [[0.2471610048738295]], [[0.2724924210670615]]], "count": [262]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1680]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1680]}, "observation.state": {"min": [0.5924487851156974, -6.861018396242648, 0.6999942540849923, 0.0, 0.0, -1.0, 0.00014642094902228564, -0.008492009832806957, -0.16538579863937009, 0.3309637921896198, -0.9888803958892822, -0.232882559299469, -0.4750349819660187, 0.00017914071213454008, 0.009305573456236955, -0.04007352861910124], "max": [4.851102780529732, -1.5235658305810624, 0.7022616002273393, 0.0, 0.0, 0.9999998807907104, 1.0, 0.627095782260775, 0.08487918380341242, 0.8188150290065067, 0.9991269111633301, 0.22949978709220886, 0.431756854057312, 0.2120063304901123, 0.040120866093196865, -0.013175032093057799], "mean": [2.5229735337435537, -4.2367566866328055, 0.7005139709208411, 0.0, 0.0, 0.07026589810962573, 0.4619273841732831, 0.1930756050247117, -0.011325684157111021, 0.6811762626927442, -0.07646633911700476, 0.047799855395264566, -0.06650631614826298, 0.035262750899511, 0.030404959049225962, -0.03210711228801206], "std": [1.3561382743486259, 2.1642825324444805, 0.0004126706705868133, 0.0, 0.0, 0.8135276143352794, 0.3462060464805282, 0.18490621401652005, 0.04042923381943147, 0.09906632993403511, 0.9260240441308158, 0.10792803810294263, 0.3394743677279231, 0.042304657559262916, 0.010183029661771023, 0.010270948805104171], "count": [1680]}, "action": {"min": [-1.0, -1.0, -0.7114285714285714, 0.0, -1.0, -1.0, -0.39285714285714285, -0.6500000000000001, -0.08857142857142856, -0.34, -0.1457142857142857, -1.0], "max": [1.0, 1.0, 0.9371428571428573, 0.0, 1.0, 1.0, 0.37142857142857144, 1.0, 0.14285714285714285, 0.38857142857142857, 0.23428571428571432, 1.0], "mean": [0.4132142857142861, -0.1479931972789118, 0.023454081632653136, 0.0, 0.17023809523809524, -0.008703231292517008, -0.005085034013605445, -0.009842687074829931, 0.0017397959183673476, 0.00017176870748299213, -0.0010799319727891167, 0.04285714285714286], "std": [0.5285051840728107, 0.47732136305343364, 0.2529199321140997, 0.0, 0.9854029586568649, 0.3740722581261089, 0.058935673119992635, 0.21105867920786975, 0.017709466382972043, 0.0672761351983843, 0.02507587951256569, 0.9990812105660538], "count": [1680]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009523809887468815], "std": [0.09712417423725128], "count": [1680]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005952380952380953], "std": [0.024390239581604616], "count": [1680]}, "timestamp": {"min": [0.0], "max": [83.95], "mean": [41.975], "std": [24.24870701020297], "count": [1680]}, "frame_index": {"min": [0], "max": [1679], "mean": [839.5], "std": [484.9741402040594], "count": [1680]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1680]}, "index": {"min": [35306], "max": [36985], "mean": [36145.5], "std": [484.9741402040594], "count": [1680]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1680]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5566435944114063]], [[0.5086814631959435]], [[0.473692859499376]]], "std": [[[0.2122201913632444]], [[0.18821137749814928]], [[0.20228052009283323]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5358604363902778]], [[0.4925370152036499]], [[0.45226909913997854]]], "std": [[[0.21985370482896427]], [[0.20530475715708763]], [[0.2041811992412748]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5160521074772996]], [[0.4704846616313706]], [[0.4322794066592287]]], "std": [[[0.22547487169858596]], [[0.20846171109217973]], [[0.2067182313091722]]], "count": [218]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1314]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1314]}, "observation.state": {"min": [0.9646103334212456, -4.748427711338807, 0.6999964748691387, 0.0, 0.0, -1.0, 1.4133854620013153e-07, -0.07355875320593364, -0.07046676049087353, 0.2332807850202966, -0.9956750273704529, -0.11440806090831757, -0.4966713786125183, 2.0892957763862796e-05, 0.016127876066520528, -0.040259234638348275], "max": [3.209408614852732, -0.8003412625080935, 0.7020937314954624, 0.0, 0.0, 1.0, 0.9999650716781616, 0.647830473790016, 0.1331961055469617, 0.8241032754267967, 0.9777524471282959, 0.04996940493583679, 0.4923863112926483, 0.09220077097415924, 0.04010874911890095, -0.016002957552783692], "mean": [1.9331005644863066, -2.623358364791399, 0.7011642257652506, 0.0, 0.0, 0.32929659075822393, 0.4218156606032887, 0.1433122825473908, -0.010604899368063093, 0.6038795002606429, -0.9214235588658709, -0.012358401577403737, -0.3262554022449507, 0.03390459361168171, 0.03122037715024725, -0.03434416821578933], "std": [0.8232579252650711, 1.5743656560293389, 0.0006041511162490332, 0.0, 0.0, 0.7594189081570529, 0.3700246232602581, 0.21198172898848774, 0.04569012807395009, 0.15578142628070396, 0.15248751491365287, 0.04144623997801173, 0.13439652443879313, 0.014182006116304336, 0.007818601826217554, 0.007492459533903191], "count": [1314]}, "action": {"min": [-1.0, -1.0, -0.31142857142857144, 0.0, -1.0, -1.0, -0.8642857142857142, -1.0, -0.07714285714285714, -0.4885714285714286, -0.11714285714285716, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.44285714285714284, 1.0, 0.13142857142857142, 0.40857142857142864, 0.16857142857142857, 1.0], "mean": [0.15567514677103717, -0.11464448793215923, 0.09959338986736249, 0.0, 0.0410958904109589, -0.010170689280278308, -0.0036910197869101996, -0.0003968253968254189, -0.00010654490106544875, -0.003020221787345073, -0.0002152641878669271, 0.1324200913242009], "std": [0.518787619599614, 0.4742066752020786, 0.24991763172484027, 0.0, 0.9991552070581153, 0.4164723659188219, 0.08857789267453779, 0.30140584672387594, 0.01362626058426517, 0.07650841682283661, 0.015616935623180334, 0.9911936841070454], "count": [1314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01217656023800373], "std": [0.10967356711626053], "count": [1314]}, "next.done": {"min": [false], "max": [true], "mean": [0.00076103500761035], "std": [0.02757636367122289], "count": [1314]}, "timestamp": {"min": [0.0], "max": [65.65], "mean": [32.825], "std": [18.96595085058133], "count": [1314]}, "frame_index": {"min": [0], "max": [1313], "mean": [656.5], "std": [379.31901701162656], "count": [1314]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1314]}, "index": {"min": [36986], "max": [38299], "mean": [37642.5], "std": [379.31901701162656], "count": [1314]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1314]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6240882001805753]], [[0.5640490745839709]], [[0.5194040599024501]]], "std": [[[0.20063795035345447]], [[0.1973536804128219]], [[0.21308186354306285]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6090973210547718]], [[0.5344664571809274]], [[0.4675650329245225]]], "std": [[[0.20970483270376683]], [[0.19263024188709213]], [[0.2121639961703464]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6249321182042639]], [[0.5396980062425412]], [[0.4641345404070905]]], "std": [[[0.2150567042346508]], [[0.19874956521451792]], [[0.22662048497838017]]], "count": [191]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1101]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1101]}, "observation.state": {"min": [-1.1233937228495516, -3.791190123645048, 0.6999969473426947, 0.0, 0.0, -0.9999954700469971, 0.0030363386031240225, -0.1806157892053144, -0.09404468966547463, 0.2315398082578196, -0.9930287003517151, -0.3636288046836853, -0.5911382436752319, 0.00023686063650529832, 0.0078642607606547, -0.04039915025903578], "max": [0.6190836446535593, -1.0151011436838024, 0.7028977127381794, 0.0, 0.0, 0.9999618530273438, 1.0, 0.6035326151779494, 0.04803207892370054, 0.8102032452114353, 0.9851692914962769, 0.5376431941986084, 0.20239129662513733, 0.4079574942588806, 0.040318432169719295, -0.008724164908103587], "mean": [-0.17995316291768063, -2.142141228079303, 0.701283012527734, 0.0, 0.0, 0.24699366915820598, 0.8405242371248111, 0.11574005401031133, -0.01705894857670537, 0.6405671466534665, -0.8201807706492473, 0.13324482856042597, -0.33090985490020397, 0.11315138005191, 0.030974222737998037, -0.026150434948224624], "std": [0.5740984007378662, 1.0164907212922183, 0.0005586011534451579, 0.0, 0.0, 0.43960088909565903, 0.19815193133395526, 0.25548762463592933, 0.029540849427850235, 0.1924595326483625, 0.24368035343555827, 0.23302296433772648, 0.2326290853678186, 0.13945840236757345, 0.013249544339097044, 0.0126630985046283], "count": [1101]}, "action": {"min": [-1.0, -1.0, -0.13428571428571429, 0.0, -1.0, -1.0, -0.36428571428571427, -0.8714285714285716, -0.14857142857142858, -0.35428571428571426, -0.3657142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.44285714285714284, 1.0, 0.13428571428571429, 0.4657142857142857, 0.21714285714285717, 1.0], "mean": [0.20848579213701843, 0.011645257558064101, 0.12057350460620223, 0.0, -0.21525885558583105, -0.004171532373167243, -0.0009990917347865596, -0.004872194109251318, -0.0016219021668612953, 0.0019981834695731184, -0.009311015959517329, 0.10626702997275204], "std": [0.4209964886053573, 0.3492151485609071, 0.24714494801031645, 0.0, 0.9765570260317074, 0.4961638731059524, 0.07466474017233982, 0.3537590271506823, 0.02347962058898005, 0.09059997771809757, 0.056921930923047544, 0.9943376279417252], "count": [1101]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014532243832945824], "std": [0.11967061460018158], "count": [1101]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009082652134423251], "std": [0.030123749231202545], "count": [1101]}, "timestamp": {"min": [0.0], "max": [55.0], "mean": [27.5], "std": [15.891559604603529], "count": [1101]}, "frame_index": {"min": [0], "max": [1100], "mean": [550.0], "std": [317.8311920920706], "count": [1101]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1101]}, "index": {"min": [38300], "max": [39400], "mean": [38850.0], "std": [317.8311920920706], "count": [1101]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1101]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6265033291419867]], [[0.5973772957330177]], [[0.5583636132200819]]], "std": [[[0.2160070067678413]], [[0.23301991067504899]], [[0.26082136527297994]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.594118417644293]], [[0.5597963633152914]], [[0.533351795803228]]], "std": [[[0.22274977134944063]], [[0.23151707976934885]], [[0.23587750537045987]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5902467123459627]], [[0.5625024168060235]], [[0.5417164133109298]]], "std": [[[0.22447662652580125]], [[0.23230719507080322]], [[0.23605948937369906]]], "count": [180]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1017]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1017]}, "observation.state": {"min": [0.6460557503217468, -4.235275165734337, 0.6999934604436802, 0.0, 0.0, -0.03209284693002701, 0.7660327553749084, -0.08962397708117487, 0.0003782248164192481, 0.23651940291257167, -0.9926667213439941, -0.7681620121002197, -0.6077495813369751, 8.745158993406221e-05, 0.020533268662145648, -0.04008949181524367], "max": [1.3894899717061013, -1.0759197402823668, 0.7055951559348048, 0.0, 0.0, 0.6428015828132629, 1.0, 0.5924203340040743, 0.20653840365225662, 0.8515662824708246, 0.9748836159706116, 0.8001624345779419, 0.4134017825126648, 0.5738595128059387, 0.04069067690124898, -0.015325357655293486], "mean": [1.1578451548476483, -2.3765788828826726, 0.7018073131245061, 0.0, 0.0, 0.2507422991725651, 0.9225215378529672, 0.20459466939258683, 0.06218209051113475, 0.5660372195081104, -0.536115844282546, 0.24189203245713647, -0.17472634420860897, 0.12269880333575235, 0.035555744467156404, -0.03283314187693783], "std": [0.21195716148124996, 1.052155047396592, 0.0016428861133247475, 0.0, 0.0, 0.2781935119454671, 0.09322395168412456, 0.2198090646636579, 0.046335539498668456, 0.18272152828126015, 0.6500786847951877, 0.3176995952262169, 0.2417252323671561, 0.1628414390081317, 0.004740712523642077, 0.008003821050373387], "count": [1017]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.46428571428571436, -0.9285714285714287, -0.18, -0.35428571428571426, -0.32571428571428573, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5285714285714286, 1.0, 0.2285714285714286, 0.38, 0.2742857142857143, 1.0], "mean": [0.08051692653462562, 0.049065880039331364, 0.02427026267734232, 0.0, -0.3058013765978368, -0.008421126562719502, 0.013183031324624265, -0.024996488270824502, 0.0044303975277426655, 0.001486163787048742, -0.01871892119679731, -0.06784660766961652], "std": [0.42835361988725323, 0.32211150986748727, 0.2008459667604539, 0.0, 0.9520953303482199, 0.5051516272972643, 0.11960190453091034, 0.38546124438989104, 0.04188690977859971, 0.10646208169183037, 0.08166899984617121, 0.9976957641624592], "count": [1017]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015732547268271446], "std": [0.12443887442350388], "count": [1017]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009832841691248771], "std": [0.031341941888907036], "count": [1017]}, "timestamp": {"min": [0.0], "max": [50.8], "mean": [25.4], "std": [14.679123497902275], "count": [1017]}, "frame_index": {"min": [0], "max": [1016], "mean": [508.0], "std": [293.58246995804546], "count": [1017]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1017]}, "index": {"min": [39401], "max": [40417], "mean": [39909.0], "std": [293.58246995804546], "count": [1017]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1017]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5436304163049769]], [[0.5100345708050827]], [[0.46718450403353523]]], "std": [[[0.20239982497745704]], [[0.20841144778273066]], [[0.21797485347698972]]], "count": [207]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.521260273586431]], [[0.47114809221804477]], [[0.4311137959757707]]], "std": [[[0.2171810649230192]], [[0.24026828477566312]], [[0.2568295030695395]]], "count": [207]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5007769711216121]], [[0.4485754803860516]], [[0.4083996432290742]]], "std": [[[0.21164280139013847]], [[0.23407467738538593]], [[0.2518000735894557]]], "count": [207]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1229]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1229]}, "observation.state": {"min": [2.5020036150401275, -6.259745543579522, 0.6999940822418831, 0.0, 0.0, -0.9999985694885254, 0.0016985529800876975, -0.07228188998902407, -0.1678152546317433, 0.24890592748631468, -0.9986243844032288, -0.21581703424453735, -0.6714802980422974, 0.00010452776768943295, 0.0108245262472171, -0.04005573966915], "max": [4.2316042418681175, -1.5795860124793473, 0.7060860277022727, 0.0, 0.0, 0.9996923208236694, 1.0, 0.6928712849465581, 0.36595159363870744, 0.7762628028572026, 0.9993101954460144, 0.21396426856517792, 0.6731276512145996, 0.13261555135250092, 0.04060250643003196, -0.00944592050119949], "mean": [3.661984840765378, -3.6356632533600277, 0.7010355745846696, 0.0, 0.0, 0.3589269106731289, 0.7705142793594765, 0.19291009499746398, 0.04185234012673302, 0.6123714249305646, -0.6842623104692185, 0.008270207901642127, -0.2977825032714398, 0.032523768015854104, 0.0309978978853106, -0.027047627988863145], "std": [0.5341923235864545, 1.748762359861503, 0.0010996448130384717, 0.0, 0.0, 0.4864399601484628, 0.2021271668090258, 0.23223531500323677, 0.09985603155076875, 0.14521667568694174, 0.601637707925972, 0.07905081246902286, 0.27121751500950886, 0.014442259883155202, 0.010521053896453985, 0.010789143517359242], "count": [1229]}, "action": {"min": [-1.0, -1.0, -0.9400000000000001, 0.0, -1.0, -1.0, -1.0, -1.0, -0.18571428571428572, -0.4542857142857143, -0.2257142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4914285714285715, 0.5228571428571429, 0.2257142857142857, 1.0], "mean": [0.2916133906776705, 0.019266534929675703, -0.12103917238172726, 0.0, 0.010577705451586655, -0.006038591189120051, 0.0037719400209229436, -0.0047715913053586, 0.008631872602580496, 0.009524584447285829, -0.0009740788097175404, 0.15541090317331163], "std": [0.5297586630671196, 0.43004586741459416, 0.25070763067561763, 0.0, 0.9999440545087407, 0.4855861768120156, 0.21278351774380608, 0.35519242803892975, 0.048086304927055595, 0.11519968208869863, 0.043937950646710834, 0.9878499132838305], "count": [1229]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013018714264035225], "std": [0.11335443705320358], "count": [1229]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008136696501220504], "std": [0.028513287986875885], "count": [1229]}, "timestamp": {"min": [0.0], "max": [61.4], "mean": [30.700000000000003], "std": [17.739081148695387], "count": [1229]}, "frame_index": {"min": [0], "max": [1228], "mean": [614.0], "std": [354.7816229739077], "count": [1229]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1229]}, "index": {"min": [40418], "max": [41646], "mean": [41032.0], "std": [354.7816229739077], "count": [1229]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1229]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5739362627645344]], [[0.47376731913598197]], [[0.41973386596065415]]], "std": [[[0.22821943322285532]], [[0.2428982667638803]], [[0.2330758540598186]]], "count": [226]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.562736736021583]], [[0.5515352097232785]], [[0.5042657479175817]]], "std": [[[0.21767587738547436]], [[0.2025295656691124]], [[0.19927171063946522]]], "count": [226]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5697121957265605]], [[0.558983242306965]], [[0.5041033338222076]]], "std": [[[0.21208553968532093]], [[0.1941411236114786]], [[0.19332190233174576]]], "count": [226]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1377]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1377]}, "observation.state": {"min": [3.243853636244426, -4.376501011880219, 0.6999963651111625, 0.0, 0.0, -1.0, 2.3222228264785372e-05, -0.1975114283228807, -0.06500441544454238, 0.22803980129755586, -0.9970788955688477, -0.5766171813011169, -0.5481244921684265, 0.00014499782992061228, 0.020553802308196138, -0.040633739120043554], "max": [6.965804698062768, -0.9682026456424424, 0.7064892686790516, 0.0, 0.0, 1.0, 0.9999985694885254, 0.6476152906782149, 0.2524713820194111, 0.8192308269694345, 0.9968804121017456, 0.699445366859436, 0.5707216858863831, 0.14295031130313873, 0.0408597135753455, -0.018063846541791093], "mean": [5.0881952411677736, -2.164364241630324, 0.7029067859614407, 0.0, 0.0, 0.15511759728443192, 0.4285548974352907, 0.1172377884286018, 0.05467728790693311, 0.6328237282268243, -0.6873197338246918, -0.06895166478602022, -0.3202850058235275, 0.046920992824770684, 0.034817006241541805, -0.030717958505520677], "std": [1.3660090155207443, 1.0145385706383148, 0.002247560244804626, 0.0, 0.0, 0.808324729783543, 0.3726799859343083, 0.2800634020219141, 0.04538160542026734, 0.1850489739069112, 0.5827430707106022, 0.18756448855345606, 0.2065039985397807, 0.025285625828762318, 0.005252838076157232, 0.008525247183235598], "count": [1377]}, "action": {"min": [-1.0, -1.0, -0.8457142857142858, 0.0, -1.0, -1.0, -0.6071428571428572, -1.0, -0.16857142857142857, -0.7257142857142858, -0.5514285714285714, -1.0], "max": [1.0, 1.0, 0.7771428571428571, 0.0, 1.0, 1.0, 0.6928571428571428, 1.0, 0.18857142857142858, 0.5485714285714286, 0.58, 1.0], "mean": [0.34268077601410946, 0.1123923643531487, -0.021466957153231596, 0.0, 0.06027596223674655, -0.022393401805166507, 0.011380848635750595, -0.0315956012034443, -0.00023446415603278368, -0.00740118269530034, -0.0009793547048449003, 0.09513435003631082], "std": [0.5021186996647009, 0.5780207806230165, 0.27820395746349535, 0.0, 0.9981817511738231, 0.4908255593007156, 0.1310908441692012, 0.348268208004109, 0.027257224824714765, 0.12733902305548975, 0.10201974398608028, 0.9954644420787522], "count": [1377]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011619462631642818], "std": [0.10716553032398224], "count": [1377]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007262164124909223], "std": [0.026938615818433417], "count": [1377]}, "timestamp": {"min": [0.0], "max": [68.8], "mean": [34.4], "std": [19.87527777583666], "count": [1377]}, "frame_index": {"min": [0], "max": [1376], "mean": [688.0], "std": [397.5055555167332], "count": [1377]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1377]}, "index": {"min": [41647], "max": [43023], "mean": [42335.0], "std": [397.5055555167332], "count": [1377]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1377]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5818568302594381]], [[0.5267967240583808]], [[0.4832711981814444]]], "std": [[[0.24122907539478888]], [[0.26324490914301896]], [[0.2765342127394463]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5200291042469246]], [[0.47100782379199063]], [[0.4358652868037354]]], "std": [[[0.234851242563597]], [[0.2444918511126941]], [[0.24978642354380054]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5402465436659675]], [[0.4884631558378996]], [[0.4510957339432016]]], "std": [[[0.21681549593524874]], [[0.22973696585144152]], [[0.2363260536354232]]], "count": [209]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1244]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1244]}, "observation.state": {"min": [1.1062869636301713, -5.477800926590481, 0.6999961003588966, 0.0, 0.0, -1.0, 0.0, -0.10289123260040789, -0.14646806276735835, 0.2302196011054557, -0.9931767582893372, -0.5173946619033813, -0.4024468660354614, 8.763057121541351e-05, 0.0059619138658951725, -0.04120712475299384], "max": [3.9409968282622327, -0.9912466980034007, 0.7066572393569434, 0.0, 0.0, 1.0, 0.9999922513961792, 0.497323850273923, 0.13660808523168644, 0.7746145566487206, 0.9882028698921204, 0.5086262226104736, 0.24261893332004547, 0.26991668343544006, 0.041626754104178716, -0.0010158222090241907], "mean": [2.700125083730828, -2.9011377827932874, 0.7040482987260617, 0.0, 0.0, 0.4076833892010985, 0.39924089233578597, 0.092389764105862, -0.006185438782044925, 0.6451957411683129, -0.5063955803967749, 0.1739738564519062, -0.21090466941862557, 0.11559988520769737, 0.03178244132562258, -0.02699473974475078], "std": [1.1023872174315268, 1.7181779200583467, 0.0017532747381677528, 0.0, 0.0, 0.7649143294715385, 0.2988428348585998, 0.2039328133324181, 0.05618792764016211, 0.1551313764719604, 0.7335258147919214, 0.2916886958977059, 0.1569972855005653, 0.08753248661112323, 0.013682358276877157, 0.013424430627483124], "count": [1244]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.6571428571428571, -1.0, -0.20857142857142857, -0.5314285714285715, -0.32, -1.0], "max": [1.0, 1.0, 0.5571428571428572, 0.0, 1.0, 1.0, 0.942857142857143, 1.0, 0.10857142857142858, 0.4828571428571429, 0.29428571428571426, 1.0], "mean": [0.3928284336242537, 0.01562930638493337, -0.10491502067064777, 0.0, 0.1189710610932476, -0.03221750114836931, -0.005914101975195224, -0.03611047312815801, -0.003451998162609096, -0.0030891134588883784, -0.005009186954524583, 0.11414790996784566], "std": [0.5052821982854475, 0.4535333130409672, 0.27426442854836885, 0.0, 0.992897722135742, 0.4771993398234968, 0.1290762283251584, 0.3536711818580435, 0.02918035951176818, 0.09785979328576892, 0.06307013008859394, 0.9934637661484973], "count": [1244]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012861736118793488], "std": [0.11267790198326111], "count": [1244]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008038585209003215], "std": [0.02834100090643761], "count": [1244]}, "timestamp": {"min": [0.0], "max": [62.15], "mean": [31.075000000000003], "std": [17.955587570447257], "count": [1244]}, "frame_index": {"min": [0], "max": [1243], "mean": [621.5], "std": [359.1117514089451], "count": [1244]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1244]}, "index": {"min": [43024], "max": [44267], "mean": [43645.5], "std": [359.1117514089451], "count": [1244]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1244]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5954431491640144]], [[0.5661180899647509]], [[0.5235781768684244]]], "std": [[[0.2213598494652887]], [[0.21707853304693414]], [[0.2356189210373835]]], "count": [188]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.599486054447128]], [[0.5441072084429267]], [[0.5032864328319946]]], "std": [[[0.23400309470763525]], [[0.24896605425230708]], [[0.25927648375455764]]], "count": [188]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5908254484161517]], [[0.5340024993476342]], [[0.4927053983876941]]], "std": [[[0.23403284739932773]], [[0.24838060415998403]], [[0.258880648111467]]], "count": [188]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1082]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1082]}, "observation.state": {"min": [0.9644726703028554, -5.371658711474034, 0.6999952791313251, 0.0, 0.0, -1.0, 1.2709091379292659e-07, -0.18488522380196581, -0.07159998100750542, 0.230217907305042, -0.9908667206764221, -0.31445229053497314, -0.6126875281333923, 5.0483475206419826e-05, 0.016083416298850597, -0.04033731705807983], "max": [4.288382894962294, -2.6768243780957706, 0.7023613465778769, 0.0, 0.0, 1.0, 0.21932783722877502, 0.5686853369842062, 0.22451215948701098, 0.8464103242411264, 0.9867516756057739, 0.31126245856285095, 0.4480682611465454, 0.09257858991622925, 0.04008064953338259, -0.015787915548438634], "mean": [2.748960219799672, -3.9895239259855506, 0.7011359915379494, 0.0, 0.0, 0.45028229209279397, 0.020972846337341467, 0.09629759033821117, 0.009089092349479123, 0.6373977994450422, -0.41403247060705245, 0.0005484558297613852, -0.19514225037753313, 0.03403110658142604, 0.030347456113313437, -0.029221026823030155], "std": [1.3018339831037034, 0.9309348887106128, 0.0005127128588483183, 0.0, 0.0, 0.8920616605741671, 0.03212491774742547, 0.24726454237806608, 0.0684829422808781, 0.17878514857594377, 0.8006995987959549, 0.1300411186002233, 0.3611663844099096, 0.029436436022958565, 0.008427555583368222, 0.00973451505002963], "count": [1082]}, "action": {"min": [-1.0, -1.0, -0.8885714285714287, 0.0, -1.0, -1.0, -0.7785714285714286, -1.0, -0.25142857142857145, -0.40857142857142864, -0.38, -1.0], "max": [1.0, 1.0, 0.4314285714285714, 0.0, 1.0, 1.0, 0.7428571428571429, 1.0, 0.2, 0.7428571428571429, 0.44285714285714284, 1.0], "mean": [0.11583047266965937, 0.025145233694217055, -0.002413519936625296, 0.0, -0.11090573012939002, 0.0019144441510430582, -0.0008383945075257376, -0.015104304198574035, -4.224980195405522e-05, -0.000879324003168738, -0.001748085555848954, 0.09057301293900184], "std": [0.5507508358251516, 0.45981619327997, 0.09510537903093634, 0.0, 0.9938309308048705, 0.5269444246991015, 0.14711570717679204, 0.3538817170565105, 0.02863839042565628, 0.10563734147638534, 0.06637632601537913, 0.9958898178649869], "count": [1082]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014787430875003338], "std": [0.1207011342048645], "count": [1082]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009242144177449168], "std": [0.03038684329533012], "count": [1082]}, "timestamp": {"min": [0.0], "max": [54.05], "mean": [27.025000000000002], "std": [15.617318111634916], "count": [1082]}, "frame_index": {"min": [0], "max": [1081], "mean": [540.5], "std": [312.3463622326983], "count": [1082]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1082]}, "index": {"min": [44268], "max": [45349], "mean": [44808.5], "std": [312.3463622326983], "count": [1082]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1082]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6344855207109619]], [[0.6347729419271848]], [[0.5716582982482237]]], "std": [[[0.19476801041811284]], [[0.22827184451864438]], [[0.2272897879343396]]], "count": [151]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5799341490819475]], [[0.5463817977360388]], [[0.5178664564730331]]], "std": [[[0.19619947050897207]], [[0.201054356774365]], [[0.21788339002515245]]], "count": [151]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5911100864348481]], [[0.5675859836429268]], [[0.5464212966203659]]], "std": [[[0.2114353446888178]], [[0.21702554652179903]], [[0.23025444736831097]]], "count": [151]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [805]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [805]}, "observation.state": {"min": [1.018471855818016, -3.586198570301287, 0.6999929161925188, 0.0, 0.0, 0.7065299153327942, 0.021233491599559784, -0.024163219080052478, -0.22634234105634432, 0.36416946401298556, -0.9984397292137146, -0.2297849953174591, -0.6218041181564331, 0.00011751076090149581, 0.013144430593274097, -0.040056672162819495], "max": [2.854551617119737, -3.0160416138472144, 0.7023166938591567, 0.0, 0.0, 0.9997745156288147, 0.7076830863952637, 0.5759514206915737, 0.12867403897554874, 0.8703713238649208, 0.9984761476516724, 0.3274250030517578, 0.31403252482414246, 0.2760562002658844, 0.04028941856966903, -0.02050194797977901], "mean": [1.6817911379251116, -3.128921692977043, 0.7009629145649073, 0.0, 0.0, 0.867698063391336, 0.3945512978788118, 0.20041870852240273, -0.026055612613623234, 0.6195864460339876, -0.7772212614924271, 0.017429745678575883, -0.30399957976494885, 0.06203087642085695, 0.03511789731763038, -0.031030593262029182], "std": [0.6906291765231654, 0.12562041348315922, 0.0006455610418068082, 0.0, 0.0, 0.1341023974867698, 0.27100902651279624, 0.1999617042237995, 0.07702914751107001, 0.1474013868210656, 0.48214727612010877, 0.1711416753571671, 0.1789877175227788, 0.07461684062698684, 0.005381715205561439, 0.007643043480688342], "count": [805]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.7714285714285714, -0.8, -0.16, -0.44285714285714284, -0.17714285714285713, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9642857142857144, 1.0, 0.15428571428571428, 0.38857142857142857, 0.24285714285714288, 1.0], "mean": [0.07560780834072763, 0.01537710736468501, 0.023659272404614032, 0.0, -0.391304347826087, -0.010629991126885537, -0.0063708961845607625, -0.010541259982253802, 0.003982253771073646, -0.004028393966282158, -0.003904170363797692, 0.11055900621118013], "std": [0.36857474919213606, 0.29924295046486116, 0.2580238197549506, 0.0, 0.9202613255876836, 0.5306579562353894, 0.17201091519021827, 0.3583633783137579, 0.023667997489224796, 0.09597432371469057, 0.04014764163386103, 0.9938695619373746], "count": [805]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019875776022672653], "std": [0.13957339525222778], "count": [805]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012422360248447205], "std": [0.03522347050623062], "count": [805]}, "timestamp": {"min": [0.0], "max": [40.2], "mean": [20.1], "std": [11.619165202371468], "count": [805]}, "frame_index": {"min": [0], "max": [804], "mean": [402.0], "std": [232.38330404742936], "count": [805]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [805]}, "index": {"min": [45350], "max": [46154], "mean": [45752.0], "std": [232.38330404742936], "count": [805]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [805]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6270602431951785]], [[0.6155278244708997]], [[0.5987713139161445]]], "std": [[[0.2470770607429463]], [[0.25479167638635025]], [[0.2727557255254423]]], "count": [208]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5812533267842519]], [[0.56963829195877]], [[0.5629791587726024]]], "std": [[[0.2718014698847285]], [[0.2721183296137734]], [[0.2714291744980652]]], "count": [208]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6280954372469297]], [[0.6128135753073484]], [[0.6015883444301323]]], "std": [[[0.24229374120295655]], [[0.24548544327951197]], [[0.24950494281199861]]], "count": [208]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1240]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1240]}, "observation.state": {"min": [0.9783694632295556, -4.004794486078186, 0.6999935373703302, 0.0, 0.0, -1.0, 0.00019220737158320844, -0.12760345172115795, -0.1905696357480915, 0.22506398336322764, -0.9994009733200073, -0.3695383369922638, -0.5702478289604187, 3.7707137380493805e-05, 0.006808973759023554, -0.04007835942810626], "max": [3.6758888552602658, -2.478581145424413, 0.7070790965766276, 0.0, 0.0, 0.9999898672103882, 0.9999979734420776, 0.6776419428061393, 0.07463625005001395, 0.860843338747581, 0.9990631341934204, 0.3573046028614044, 0.7840652465820312, 0.12160645425319672, 0.04079606951580942, 0.0020144712898686632], "mean": [2.586216184870952, -3.0196848926565965, 0.7032857274816526, 0.0, 0.0, 0.0682502846580915, 0.6879897930565235, 0.16153796372052528, -0.023263158387628338, 0.63920415330659, 0.4893247187137604, 0.0352224554536083, 0.2408680437519985, 0.02941994084732517, 0.02871564431893813, -0.03055555546386274], "std": [0.9762542723584373, 0.39605454168238796, 0.0027519598138901705, 0.0, 0.0, 0.621729669378499, 0.3680545757434708, 0.2684680309313314, 0.06178620202150845, 0.17709404496866069, 0.7622349172224192, 0.16143067152989957, 0.30439649264536434, 0.026806710883758432, 0.011389759847036633, 0.011044543272160931], "count": [1240]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.3857142857142857, -1.0, -0.18285714285714286, -0.6457142857142857, -0.2885714285714286, -1.0], "max": [1.0, 1.0, 0.58, 0.0, 1.0, 1.0, 0.46428571428571436, 1.0, 0.3857142857142858, 0.6342857142857142, 0.20857142857142857, 1.0], "mean": [0.13426267281105989, -0.031376728110599085, -0.09986866359447004, 0.0, -0.14838709677419354, -0.013917050691244244, -0.011002304147465445, -0.032085253456221194, 0.0058364055299539195, 0.0011267281105990774, -0.001953917050691241, 0.00967741935483871], "std": [0.39485701630702863, 0.40471036093208806, 0.3011881931858211, 0.0, 0.9889293551669446, 0.5347120693133613, 0.1003958557011137, 0.4066156906967412, 0.04738290613496269, 0.12191424047598073, 0.04571155503216363, 0.9999531726809181], "count": [1240]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012903225608170033], "std": [0.11285713315010071], "count": [1240]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008064516129032258], "std": [0.02838663855935168], "count": [1240]}, "timestamp": {"min": [0.0], "max": [61.95], "mean": [30.975], "std": [17.897852524814255], "count": [1240]}, "frame_index": {"min": [0], "max": [1239], "mean": [619.5], "std": [357.9570504962851], "count": [1240]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1240]}, "index": {"min": [46155], "max": [47394], "mean": [46774.5], "std": [357.9570504962851], "count": [1240]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1240]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5412858590325219]], [[0.5254904398975366]], [[0.5074981001758212]]], "std": [[[0.20597239586794663]], [[0.2112182092258935]], [[0.2112912238580357]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5437301229377012]], [[0.5061852242002114]], [[0.4672353031321068]]], "std": [[[0.18696060943055728]], [[0.19097485523399046]], [[0.20547759045176936]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5441805827537405]], [[0.5131795515328916]], [[0.47974470311775985]]], "std": [[[0.1949735256332654]], [[0.19700406755700525]], [[0.20648513720946995]]], "count": [201]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1185]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1185]}, "observation.state": {"min": [0.9652006107105833, -3.243473456140125, 0.6999936760693376, 0.0, 0.0, -1.0, 1.1814150724376304e-07, -0.0894213876792902, -0.012458531824285024, 0.22881217502654227, -0.9940657019615173, -0.4385112524032593, -0.1454695612192154, 4.8352878366131335e-05, 0.0003641789294816983, -0.04095458739591833], "max": [4.433658793240139, -0.32433177664018026, 0.7030985493460123, 0.0, 0.0, 1.0, 0.05537766218185425, 0.6734363658159865, 0.09712535945036338, 0.8284495495562777, 0.9861729741096497, 0.6641876697540283, 0.5783255696296692, 0.36392107605934143, 0.040182950735541685, -0.0096771377939326], "mean": [2.7952851727868118, -1.4766928608351892, 0.7017907124946665, 0.0, 0.0, 0.6371468529922549, 0.009651942285497145, 0.23168030517187754, 0.02260951267927479, 0.5703727452062738, 0.5876394536424789, 0.319614081694607, 0.2117874290437121, 0.07085379932284439, 0.026443323363560416, -0.02794075617515731], "std": [1.4547297907129926, 1.160528116027659, 0.0009159015521059409, 0.0, 0.0, 0.7705873364607018, 0.012080149985502709, 0.25351281634103495, 0.028433467090902984, 0.15709353223376327, 0.5882542074970453, 0.33915194965572776, 0.19072807138035583, 0.07216839869507678, 0.012640099093334523, 0.011247164347299188], "count": [1185]}, "action": {"min": [-1.0, -1.0, -0.30285714285714294, 0.0, -1.0, -1.0, -0.7571428571428572, -0.7571428571428572, -0.14, -0.38857142857142857, -0.38, -1.0], "max": [1.0, 1.0, 0.24285714285714288, 0.0, 1.0, 1.0, 0.5285714285714286, 1.0, 0.5342857142857143, 0.4314285714285714, 0.38285714285714284, 1.0], "mean": [0.09176612417118742, -0.04086196503918025, 0.0004725738396624467, 0.0, -0.1358649789029536, 0.0007414104882459054, 0.0055635925256178375, -0.010524412296564218, 0.008339963833634712, -0.00913562386980109, 0.01340084388185654, 0.06835443037974684], "std": [0.5095712413175327, 0.4390640680022942, 0.05160358550117375, 0.0, 0.9907273628540398, 0.46024275943345944, 0.0803291452328028, 0.29082273219751253, 0.062381797515165635, 0.08819077793064782, 0.07003862035807769, 0.9976611006987601], "count": [1185]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013502109795808792], "std": [0.11541144549846649], "count": [1185]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008438818565400844], "std": [0.029037384867654437], "count": [1185]}, "timestamp": {"min": [0.0], "max": [59.2], "mean": [29.6], "std": [17.103995634548866], "count": [1185]}, "frame_index": {"min": [0], "max": [1184], "mean": [592.0], "std": [342.0799126909773], "count": [1185]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1185]}, "index": {"min": [47395], "max": [48579], "mean": [47987.0], "std": [342.0799126909773], "count": [1185]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1185]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5509203296982264]], [[0.5117456371235165]], [[0.4762546436661786]]], "std": [[[0.23924829783919677]], [[0.24232639235745373]], [[0.26251905780593654]]], "count": [231]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5230728842347782]], [[0.4828509405952248]], [[0.44626024060192254]]], "std": [[[0.2255461912071825]], [[0.21047164295868037]], [[0.20982272550061207]]], "count": [231]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5443771236669976]], [[0.5075635588338081]], [[0.4723404297206572]]], "std": [[[0.23321332069655076]], [[0.22361092031889454]], [[0.22567878606726074]]], "count": [231]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1425]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1425]}, "observation.state": {"min": [3.171165682926129, -5.002586313982849, 0.6999980826264719, 0.0, 0.0, -0.9998842477798462, 0.0013619542587548494, -0.06858809565026203, -0.13945673320223495, 0.22937963350927537, -0.9897186160087585, -0.24338370561599731, -0.5014931559562683, 2.2264333892962895e-05, 0.008940953253269658, -0.04001545804584987], "max": [6.3350125672508035, -1.8628251623049426, 0.7021277614356164, 0.0, 0.0, 0.9999990463256836, 1.0, 0.5653937391652875, 0.011793100723722194, 0.7680647621278386, 0.9855154752731323, 0.34218576550483704, 0.3486517071723938, 0.05150381103157997, 0.04127988658207583, -0.0036535510134536897], "mean": [5.175995357350089, -3.2581131140299573, 0.7009395831172425, 0.0, 0.0, 0.2670473062053906, 0.8107602956350239, 0.14141149612303575, -0.06213170339889689, 0.5615532437315149, -0.3636811145146688, -0.007825445344573573, -0.15249300664977022, 0.02585671615558998, 0.024777318084107474, -0.022960518925395742], "std": [1.159895093945385, 0.9864719864044423, 0.000612679613129063, 0.0, 0.0, 0.484704655596746, 0.1908268282499126, 0.1838910028451191, 0.031269804881736904, 0.14782773208829203, 0.8641420834341829, 0.11491321584224752, 0.28911116832486766, 0.014841355506990199, 0.012783611896603124, 0.013585189166157531], "count": [1425]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.4857142857142857, -0.6500000000000001, -0.18, -0.4742857142857143, -0.18857142857142858, -1.0], "max": [1.0, 1.0, 0.7771428571428571, 0.0, 1.0, 1.0, 0.55, 1.0, 0.11142857142857143, 0.23714285714285716, 0.3171428571428571, 1.0], "mean": [0.2854586466165415, -0.01224060150375939, -0.11109974937343359, 0.0, -0.009122807017543859, -0.004275689223057645, -0.0005263157894736954, -0.00611528822055136, -0.0013714285714285716, -0.0021854636591478703, -0.0011889724310776945, 0.22245614035087719], "std": [0.46890496315693886, 0.35068625796759745, 0.2812302483081957, 0.0, 0.9999583863302036, 0.3548781527522646, 0.0805568836206533, 0.2496289770127028, 0.0206952109911048, 0.05055624685329581, 0.047144557045188995, 0.9749426986342155], "count": [1425]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011228070594370365], "std": [0.10536602884531021], "count": [1425]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007017543859649122], "std": [0.026481350546123803], "count": [1425]}, "timestamp": {"min": [0.0], "max": [71.2], "mean": [35.6], "std": [20.56809827540375], "count": [1425]}, "frame_index": {"min": [0], "max": [1424], "mean": [712.0], "std": [411.36196550807495], "count": [1425]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1425]}, "index": {"min": [48580], "max": [50004], "mean": [49292.0], "std": [411.36196550807495], "count": [1425]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1425]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5633691418383129]], [[0.513603460143508]], [[0.4655510259641911]]], "std": [[[0.24689569731129685]], [[0.24521902575130705]], [[0.23483968655396006]]], "count": [217]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4924833261019882]], [[0.49885540330831174]], [[0.4834478422244024]]], "std": [[[0.2472230414901029]], [[0.21246295997139597]], [[0.19338471909813643]]], "count": [217]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5237797667580137]], [[0.5287369211482476]], [[0.5142458837034688]]], "std": [[[0.2525287485104985]], [[0.2211980302364221]], [[0.2057198356817958]]], "count": [217]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1305]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1305]}, "observation.state": {"min": [3.3943877372447497, -4.705397634898782, 0.6999980912296017, 0.0, 0.0, -0.9998205304145813, 0.00482277013361454, -0.07161352809178956, -0.16400662308805625, 0.2291179057887276, -0.9981777667999268, -0.30583682656288147, -0.5514671802520752, 3.055105480598286e-05, 0.011322430938073487, -0.040410804514273195], "max": [6.318232256911575, -1.9935735592779342, 0.7046554032974935, 0.0, 0.0, 0.9999884366989136, 1.0, 0.6509014120258003, 0.022813700177174212, 0.7741806955215143, 0.9984365701675415, 0.3106862008571625, 0.3019653260707855, 0.16536228358745575, 0.04093743906718401, -0.006961819965593809], "mean": [5.19443975334827, -3.3110910249389085, 0.7021033079614174, 0.0, 0.0, 0.24041249833687056, 0.8285506700019271, 0.20788725022105786, -0.0590805582769761, 0.5540593911391708, -0.34012826516710476, 0.0042180077468983515, -0.05582848528196671, 0.03634905617445385, 0.02789137891653023, -0.028538598480542177], "std": [1.105389895590175, 1.0159247148830122, 0.0017533218999220943, 0.0, 0.0, 0.4764677813629068, 0.1693637088699129, 0.20287084313772613, 0.042612538036750504, 0.14033926025283822, 0.8989991928001585, 0.10780723432005615, 0.2427144350140224, 0.03353579317173865, 0.0111783277726713, 0.011332831572509767], "count": [1305]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.44285714285714284, -0.6, -0.12571428571428572, -0.2714285714285714, -0.31142857142857144, -1.0], "max": [1.0, 1.0, 0.8285714285714287, 0.0, 1.0, 0.8428571428571429, 0.7071428571428572, 0.8714285714285716, 0.2257142857142857, 0.31142857142857144, 0.32857142857142857, 1.0], "mean": [0.28690202517788704, 0.012764094143404462, -0.11088341543513955, 0.0, -0.07126436781609195, 0.008987411056376562, -0.0026710454296661164, -0.00357963875205254, 0.001142857142857141, -0.003678160919540229, -0.002020799124247399, 0.17701149425287357], "std": [0.4752959955512941, 0.302698834665646, 0.297221574871271, 0.0, 0.997457462691899, 0.372550932250118, 0.10647713526261744, 0.24112313182104686, 0.023549874871401602, 0.05515520882729317, 0.044236668347053504, 0.9842087842030147], "count": [1305]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012260536663234234], "std": [0.11004643142223358], "count": [1305]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007662835249042146], "std": [0.0276712185214832], "count": [1305]}, "timestamp": {"min": [0.0], "max": [65.2], "mean": [32.6], "std": [18.836047002135736], "count": [1305]}, "frame_index": {"min": [0], "max": [1304], "mean": [652.0], "std": [376.72094004271474], "count": [1305]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1305]}, "index": {"min": [50005], "max": [51309], "mean": [50657.0], "std": [376.72094004271474], "count": [1305]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1305]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5859287315271952]], [[0.5419384529577435]], [[0.5036152383950817]]], "std": [[[0.24136679250453164]], [[0.25505132066197933]], [[0.26815099868543724]]], "count": [181]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4754102724885491]], [[0.44147056899444215]], [[0.4048449576114113]]], "std": [[[0.21967236006986077]], [[0.21899647743717124]], [[0.22985929804351996]]], "count": [181]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5058097683147521]], [[0.4759671450616892]], [[0.44351526292815985]]], "std": [[[0.22886316048128721]], [[0.23071687054298012]], [[0.24086129237361936]]], "count": [181]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1028]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1028]}, "observation.state": {"min": [0.5527229596339678, -4.39572333180267, 0.6999957342702875, 0.0, 0.0, -0.9995877146720886, 0.0044681616127491, -0.12884878905335928, -0.08934603945295594, 0.23191426443364915, -0.9996529817581177, -0.11405801773071289, -0.4689243733882904, 3.93609625461977e-05, 0.020532315853867042, -0.040396626180897455], "max": [1.4220615616363361, -1.0052871425621719, 0.702593136826858, 0.0, 0.0, 0.9999901056289673, 1.0, 0.6978212644446159, 0.04308849604900766, 0.8386273566290766, 0.9983671307563782, 0.2267804741859436, 0.3849779963493347, 0.23266181349754333, 0.040224241929165995, -0.02053424342429271], "mean": [1.1178080013347904, -2.317832537041263, 0.7012083500483516, 0.0, 0.0, 0.28037305020433445, 0.8659495145049859, 0.1805591792206156, -0.007270965824746112, 0.5855289523583793, -0.7761508700100829, 0.022380837340792097, -0.2617018235682682, 0.05379591295268928, 0.03509066663805914, -0.035197784425251226], "std": [0.26045185525108394, 1.0972770953254147, 0.0010645486788926008, 0.0, 0.0, 0.3822155655559666, 0.1594792970249944, 0.23750804440734713, 0.031118838332353783, 0.17058329412861678, 0.5311911908913572, 0.0722203618526269, 0.18469971311967243, 0.06490939793015724, 0.006307297339280928, 0.005413186418342498], "count": [1028]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.46428571428571436, -1.0, -0.28285714285714286, -0.5457142857142857, -0.20285714285714287, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6, 1.0, 0.11142857142857143, 0.48571428571428577, 0.13428571428571429, 1.0], "mean": [0.154307948860478, 0.015154252362423556, -0.0785714285714286, 0.0, -0.19844357976653695, 0.006976097832128974, -2.779321845468712e-05, 0.0042801556420233745, -0.004099499722067816, -2.2234574763755535e-05, -0.0015453029460811573, 0.07003891050583658], "std": [0.4711484541627439, 0.2987448431824402, 0.3100609085541448, 0.0, 0.9801123127731061, 0.5375909061318926, 0.0896244227062462, 0.3818437603502568, 0.029981152033189462, 0.11581741565543287, 0.03198348905601758, 0.9975442601785461], "count": [1028]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015564202331006527], "std": [0.12378189712762833], "count": [1028]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009727626459143969], "std": [0.03117396956996511], "count": [1028]}, "timestamp": {"min": [0.0], "max": [51.35], "mean": [25.674999999999997], "std": [14.837894897862029], "count": [1028]}, "frame_index": {"min": [0], "max": [1027], "mean": [513.5], "std": [296.7578979572406], "count": [1028]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1028]}, "index": {"min": [51310], "max": [52337], "mean": [51823.5], "std": [296.7578979572406], "count": [1028]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1028]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5357473715887009]], [[0.5435117349668755]], [[0.484251564162028]]], "std": [[[0.22380572123580206]], [[0.25664617457214006]], [[0.22243633423110826]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.57412917899203]], [[0.5121558385001429]], [[0.48378418836070464]]], "std": [[[0.2130844498353298]], [[0.22696313731792153]], [[0.22274417221045484]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5555156037943509]], [[0.48646304308514576]], [[0.4599182928992568]]], "std": [[[0.20145946877084533]], [[0.21481151898604425]], [[0.2099452461143506]]], "count": [178]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1003]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1003]}, "observation.state": {"min": [1.0147678710267078, -4.164043706097218, 0.699995511130851, 0.0, 0.0, -0.9999980926513672, 0.0019666659645736217, 0.007083323014239085, -0.2749742266110444, 0.24382647904134758, -0.9971432685852051, -0.2691226601600647, -0.5480057597160339, 1.040303959598532e-05, 0.020566145497807362, -0.040085229604148835], "max": [2.800824457770446, -3.352563382838994, 0.7012218925437811, 0.0, 0.0, 0.9999628067016602, 0.762795090675354, 0.7156905707969723, 0.1330555729635874, 0.8004424471827295, 0.9811224341392517, 0.2586771249771118, 0.30578556656837463, 0.18653374910354614, 0.04029291726264508, -0.020500415287091366], "mean": [1.8387590277229762, -3.534408479695632, 0.7004556616593609, 0.0, 0.0, -0.0643682887523267, 0.3986002891008758, 0.2769089568261209, -0.0012179414001841102, 0.5548276119719823, -0.5669988108537014, 0.0009814659477112183, -0.23414321900238602, 0.05022710346806803, 0.03604791672961001, -0.032622907936121284], "std": [0.7180920383057172, 0.153686734687763, 0.00030201485508417537, 0.0, 0.0, 0.8646788456951398, 0.2988394630087924, 0.24431863193146308, 0.09277280633708632, 0.14545775328083108, 0.7437422769498846, 0.09719336274247221, 0.23875249810850868, 0.03954358320310197, 0.003583833647387751, 0.006075912316935482], "count": [1003]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.6785714285714286, -0.807142857142857, -0.29428571428571426, -0.4257142857142857, -0.6657142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9714285714285714, 1.0, 0.2485714285714286, 0.21714285714285717, 0.2, 1.0], "mean": [0.07288847742486822, -0.01484831220623843, 0.03145705739923086, 0.0, -0.3220338983050847, 0.0037886340977069154, 0.001801737644210229, -0.00991311778948872, 0.0017917675544794195, -0.002293120638085742, -0.00385130323315767, 0.11864406779661017], "std": [0.4246305002567796, 0.3078169845752351, 0.2676572291101895, 0.0, 0.9467281385606107, 0.5254624062262807, 0.17195640834620812, 0.2887139687887657, 0.045464219760522256, 0.07256208778277067, 0.06565149761423338, 0.99293684853402], "count": [1003]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01595214381814003], "std": [0.12529034912586212], "count": [1003]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009970089730807576], "std": [0.03155970446928099], "count": [1003]}, "timestamp": {"min": [0.0], "max": [50.1], "mean": [25.05], "std": [14.47705080463559], "count": [1003]}, "frame_index": {"min": [0], "max": [1002], "mean": [501.0], "std": [289.5410160927118], "count": [1003]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1003]}, "index": {"min": [52338], "max": [53340], "mean": [52839.0], "std": [289.5410160927118], "count": [1003]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1003]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5924318299998999]], [[0.5765766759182256]], [[0.5635145894558884]]], "std": [[[0.24541160090521258]], [[0.2589362708355257]], [[0.2645753649649704]]], "count": [176]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5368297964493859]], [[0.5288682839024726]], [[0.5203154259612004]]], "std": [[[0.2602551167031808]], [[0.24833572839837198]], [[0.23483657944766587]]], "count": [176]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5877826384682069]], [[0.5759323463507939]], [[0.5618490695103392]]], "std": [[[0.23470737180478163]], [[0.227017889543226]], [[0.22020906720646163]]], "count": [176]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [993]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [993]}, "observation.state": {"min": [1.2968793976984778, -3.7277143738788423, 0.6999960197368676, 0.0, 0.0, -0.9999861717224121, 0.005258328281342983, -0.042285127326536553, -0.11052442587593747, 0.2426606069425855, -0.9921083450317383, -0.8085911273956299, -0.5575137734413147, 8.530693094144226e-07, 0.020548336792099706, -0.04075528525820598], "max": [3.737539598302627, -2.583199688391101, 0.7033578595035594, 0.0, 0.0, 0.9999476671218872, 1.0, 0.6522946230650826, 0.1252085357651258, 0.794654325157345, 0.9992759823799133, 0.6592477560043335, 0.6091536283493042, 0.25406867265701294, 0.04090349808735382, -0.01965589777886142], "mean": [2.6447768523338695, -2.9675772872762565, 0.7020420486806311, 0.0, 0.0, -0.07796320694286872, 0.6639255925559056, 0.22587656543246606, -0.006935477573542534, 0.5796103523372392, 0.02953689882282284, -0.10710430103246299, 0.08901932205050146, 0.05856180689183717, 0.03558775416664637, -0.034408432133812734], "std": [0.9115900819713456, 0.33743071317825457, 0.000807582912709231, 0.0, 0.0, 0.6319210914692723, 0.392173801450998, 0.2241855893806715, 0.04950920916786942, 0.16404263175853215, 0.8684709698278047, 0.3058399119917198, 0.35544562913488525, 0.0466995473397071, 0.005760928945710553, 0.008599485903426976], "count": [993]}, "action": {"min": [-1.0, -0.9214285714285714, -1.0, 0.0, -1.0, -1.0, -0.6642857142857144, -1.0, -0.18571428571428572, -0.8057142857142856, -0.8, -1.0], "max": [1.0, 1.0, 0.23428571428571432, 0.0, 1.0, 1.0, 0.5214285714285715, 1.0, 0.37142857142857144, 0.39714285714285713, 0.5028571428571429, 1.0], "mean": [0.10725794849661914, -0.00028772838440512617, -0.12814271327866497, 0.0, -0.3071500503524673, -0.019551143720328013, -0.004438210329448997, -0.009725219392893097, 0.014291468853402389, 0.003044166307006186, 0.002917565817867937, 0.035246727089627394], "std": [0.3521357931501518, 0.20249288864794487, 0.2913525764381897, 0.0, 0.9516610985894502, 0.5062007556152891, 0.10643718781875282, 0.36643200960351247, 0.05721574950720036, 0.1232440884218004, 0.1588644931095102, 0.9993786410712876], "count": [993]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016112789511680603], "std": [0.12590935826301575], "count": [993]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010070493454179255], "std": [0.03171805790135674], "count": [993]}, "timestamp": {"min": [0.0], "max": [49.6], "mean": [24.8], "std": [14.332713164877983], "count": [993]}, "frame_index": {"min": [0], "max": [992], "mean": [496.0], "std": [286.6542632975597], "count": [993]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [993]}, "index": {"min": [53341], "max": [54333], "mean": [53837.0], "std": [286.6542632975597], "count": [993]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [993]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5002979724021283]], [[0.45009990564043334]], [[0.4128311320752523]]], "std": [[[0.22016102793687914]], [[0.2124594243290337]], [[0.22123557286255152]]], "count": [247]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4956322276536421]], [[0.42113020877909296]], [[0.3954751698111716]]], "std": [[[0.2170355739143568]], [[0.23807964500911422]], [[0.25104748114418274]]], "count": [247]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5049792109325385]], [[0.44468185304885655]], [[0.4212434903585675]]], "std": [[[0.22239216051622251]], [[0.23913973737828934]], [[0.2508351255673021]]], "count": [247]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1553]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1553]}, "observation.state": {"min": [-1.5911022373885781, -4.382874125522111, 0.6999967102766231, 0.0, 0.0, -0.9999651908874512, 0.006334236823022366, -0.07712479621472812, -0.30112522018355525, 0.23504030089991668, -0.9912824630737305, -0.4182600677013397, -0.5476751327514648, 9.999909707403276e-06, 0.010077883598945927, -0.04009457935768952], "max": [4.252001000619033, -0.9913731327380964, 0.7041529110884083, 0.0, 0.0, 0.9999799728393555, 1.0, 0.5597931327331471, 0.08774364866078055, 0.8185795233661995, 0.9868787527084351, 0.5227469205856323, 0.6130405068397522, 0.16118605434894562, 0.04031116245200835, -0.010834533558897973], "mean": [0.9842745602977298, -2.05371744180165, 0.7012053708887683, 0.0, 0.0, -0.027215968213288515, 0.9168001717119613, 0.10948089465384489, -0.04650289211279338, 0.5872449662073019, 0.022723124937633506, 0.037648095289354394, 0.06432154001386615, 0.043724911136167964, 0.027207757192608994, -0.0304735760310091], "std": [2.240495671284768, 1.0525685774015823, 0.0007490058253367507, 0.0, 0.0, 0.3340498870745882, 0.2171345878009376, 0.20278854939446062, 0.0707442296663653, 0.146817649533489, 0.9081652340605455, 0.16861888734981229, 0.3709042017832696, 0.035366670042450796, 0.011682657130410794, 0.011986314962577769], "count": [1553]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.6785714285714286, -0.9214285714285714, -0.26, -0.5657142857142857, -0.3514285714285714, -1.0], "max": [1.0, 1.0, 0.4885714285714286, 0.0, 1.0, 1.0, 0.9071428571428573, 1.0, 0.15714285714285714, 0.29428571428571426, 0.3142857142857143, 1.0], "mean": [0.378686413393432, 0.13295005059332154, -0.07732315334375855, 0.0, 0.12556342562781714, -0.004815564345506399, -0.004038266948762762, -0.02000275963572808, -0.0035194554318829885, -0.0044117376506301155, -0.004461411093735626, 0.10624597553122987], "std": [0.5289911926033237, 0.5385524858539577, 0.20159196387446268, 0.0, 0.992085594162438, 0.3875946499687684, 0.1240673600844322, 0.26981204084593524, 0.0415536319785334, 0.0970082242623889, 0.06375375019818162, 0.9943398778503137], "count": [1553]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010302640497684479], "std": [0.10097769647836685], "count": [1553]}, "next.done": {"min": [false], "max": [true], "mean": [0.000643915003219575], "std": [0.0253673092126107], "count": [1553]}, "timestamp": {"min": [0.0], "max": [77.6], "mean": [38.800000000000004], "std": [22.41561955423048], "count": [1553]}, "frame_index": {"min": [0], "max": [1552], "mean": [776.0], "std": [448.31239108460966], "count": [1553]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1553]}, "index": {"min": [54334], "max": [55886], "mean": [55110.0], "std": [448.31239108460966], "count": [1553]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1553]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5739667821170681]], [[0.5506345051131208]], [[0.5434229646934201]]], "std": [[[0.2505258507651876]], [[0.22860843416679985]], [[0.23015406563330534]]], "count": [181]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5907723779836412]], [[0.571990161127523]], [[0.5492124372153148]]], "std": [[[0.2473028102292274]], [[0.22890406779162933]], [[0.21298650007346473]]], "count": [181]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.563307477727689]], [[0.5499862143593302]], [[0.5316544370885764]]], "std": [[[0.24538584346568906]], [[0.22954449544921085]], [[0.21733202663724333]]], "count": [181]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1025]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1025]}, "observation.state": {"min": [1.9585756664763185, -4.03775246538593, 0.6999927083481235, 0.0, 0.0, -0.9997832179069519, 0.012364928610622883, -0.10689642666449828, -0.12418480205459836, 0.34458503948765395, -0.9849832057952881, -0.307828426361084, -0.5097704529762268, 0.00019775184046011418, 0.0060100416492455165, -0.0404117642588716], "max": [4.901287633731733, -3.138970693297447, 0.7012125744949789, 0.0, 0.0, 0.999923586845398, 0.9999821186065674, 0.6173069419896224, 0.04911882833171077, 0.7885463622806412, 0.9861485362052917, 0.29357993602752686, 0.5030543208122253, 0.11240704357624054, 0.040081097246681886, -0.013679313273396117], "mean": [3.4515078777329937, -3.634527778663094, 0.7003854195183323, 0.0, 0.0, 0.20492831055256652, 0.8656661246671545, 0.1493754342380399, -0.0268665296602595, 0.6376910924388955, 0.3451985535970548, -0.016058645350177113, 0.09478333522270366, 0.025948930705596535, 0.026945532698933128, -0.028938682014485247], "std": [1.1387619406397556, 0.3515953386071892, 0.00039745320919992445, 0.0, 0.0, 0.42587451308934915, 0.1650982949953226, 0.23720083652371904, 0.0282585769424972, 0.13259427090673603, 0.8787069178277305, 0.14328892517218567, 0.27907403524994323, 0.01956974425791984, 0.011998191486493547, 0.010710699448683674], "count": [1025]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.8714285714285716, -0.7714285714285714, -0.10857142857142858, -0.4714285714285714, -0.4657142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5071428571428571, 1.0, 0.19428571428571428, 0.4714285714285714, 0.1742857142857143, 1.0], "mean": [0.1491567944250871, 0.054738675958188085, 0.05950104529616736, 0.0, -0.2, 0.0015818815331010614, -0.004090592334494775, 0.009114982578397204, 0.0025059233449477346, -0.007155400696864112, -0.000931010452961669, 0.02829268292682927], "std": [0.4735435987060072, 0.3013322730441239, 0.30709290562761465, 0.0, 0.9797958971132734, 0.5354268091759282, 0.10615991279300624, 0.31499167342177464, 0.02986700385241328, 0.09977624465005278, 0.06130196270254316, 0.999599681919112], "count": [1025]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015609756112098694], "std": [0.12396004050970078], "count": [1025]}, "next.done": {"min": [false], "max": [true], "mean": [0.000975609756097561], "std": [0.031219512195121948], "count": [1025]}, "timestamp": {"min": [0.0], "max": [51.2], "mean": [25.599999999999998], "std": [14.794593607125543], "count": [1025]}, "frame_index": {"min": [0], "max": [1024], "mean": [512.0], "std": [295.89187214251086], "count": [1025]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1025]}, "index": {"min": [55887], "max": [56911], "mean": [56399.0], "std": [295.89187214251086], "count": [1025]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1025]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6268672720910488]], [[0.6066675837994306]], [[0.5776234384223868]]], "std": [[[0.24725446949300317]], [[0.24833787170532615]], [[0.2590058294025019]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6400579025436395]], [[0.6163092128583998]], [[0.5918611551482731]]], "std": [[[0.22228364415875768]], [[0.22299342206246828]], [[0.2284706222442003]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6392329789849914]], [[0.6146764529578028]], [[0.5895376471615704]]], "std": [[[0.2154181312742593]], [[0.2159605273739131]], [[0.22152033258316323]]], "count": [205]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1216]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1216]}, "observation.state": {"min": [2.0769425772745445, -4.913439198590191, 0.6999983690234083, 0.0, 0.0, 0.35666823387145996, 0.6563124656677246, -0.15245111166777736, -0.12174790901271315, 0.23084884640010905, -0.9995843768119812, -0.2811894118785858, -0.5493940114974976, 0.00043480878230184317, 0.015715032212622278, -0.040075910596707856], "max": [5.152883454951866, -1.0296475609283795, 0.7017768709924845, 0.0, 0.0, 0.7544892430305481, 0.9342311024665833, 0.6314545413287096, 0.06434215093736251, 0.8366552958618707, 0.9825461506843567, 0.41441473364830017, 0.5846027135848999, 0.11882533133029938, 0.04024094057994586, -0.010201494827392287], "mean": [3.306502909539739, -3.1437387854054837, 0.7007266222863884, 0.0, 0.0, 0.6881845712808794, 0.7202626542237244, 0.12686489851894078, -0.009350100081177834, 0.6297581866817301, -0.38674559542223025, 0.11565031263958908, -0.11543658660452581, 0.050605643065625226, 0.027469420410983506, -0.02633495462021891], "std": [1.2144476881162845, 1.5822391466203163, 0.0005181377053318959, 0.0, 0.0, 0.07164893456458414, 0.04990135075283371, 0.2594054682043335, 0.03255092551215299, 0.1671683041309555, 0.8169616602199217, 0.2076311702185302, 0.33046853560804496, 0.03768026808942497, 0.010605577004273942, 0.011769342630226245], "count": [1216]}, "action": {"min": [-1.0, -1.0, -0.9400000000000001, 0.0, -1.0, -1.0, -0.35714285714285715, -0.9285714285714287, -0.12285714285714287, -0.5171428571428571, -0.19428571428571428, -1.0], "max": [1.0, 1.0, 0.47714285714285715, 0.0, 1.0, 1.0, 0.6285714285714287, 1.0, 0.16, 0.5, 0.08285714285714285, 1.0], "mean": [0.13637805451127819, 0.00727796052631578, -0.00044407894736842165, 0.0, -0.05756578947368421, -0.0016094924812029815, -0.004346804511278194, -0.0024906015037593978, 0.000681390977443611, -0.0018609022556390963, -0.006059680451127817, 0.10361842105263158], "std": [0.5130364691081299, 0.48559327212538334, 0.1215248298308821, 0.0, 0.9983417149865467, 0.48472766214223095, 0.09476816233507285, 0.3080498224604228, 0.017335779810920573, 0.0932452184831479, 0.025944462373016206, 0.9946171237308109], "count": [1216]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01315789483487606], "std": [0.113950714468956], "count": [1216]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008223684210526315], "std": [0.02866517279265358], "count": [1216]}, "timestamp": {"min": [0.0], "max": [60.75], "mean": [30.375], "std": [17.551442248430753], "count": [1216]}, "frame_index": {"min": [0], "max": [1215], "mean": [607.5], "std": [351.0288449686151], "count": [1216]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1216]}, "index": {"min": [56912], "max": [58127], "mean": [57519.5], "std": [351.0288449686151], "count": [1216]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1216]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5985660185964565]], [[0.5467076611715059]], [[0.49036578134127684]]], "std": [[[0.19973782844196547]], [[0.2073623956584696]], [[0.23432287970334922]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5775594177835176]], [[0.4660567637370585]], [[0.42958612818913183]]], "std": [[[0.20138983971498528]], [[0.23913205242685012]], [[0.23521120061077183]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5700640724040283]], [[0.49652032577978167]], [[0.4633830416097179]]], "std": [[[0.20485256099625349]], [[0.2222218101673336]], [[0.21572411024179403]]], "count": [193]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1118]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1118]}, "observation.state": {"min": [2.415374874049425, -4.589061702921324, 0.6999983360112294, 0.0, 0.0, -0.9999599456787109, 0.008950669318437576, -0.16780829308354006, -0.14950885540016445, 0.23394723940966444, -0.9990972280502319, -0.2580784559249878, -0.7767730355262756, 0.00012150399561505765, 0.013569317854941415, -0.040017705967549284], "max": [4.705053705124695, -3.8008731123841084, 0.7095378965254641, 0.0, 0.0, 0.9997063279151917, 0.9999997615814209, 0.5592541905194857, 0.22388424736503287, 0.758862018202753, 0.9984821677207947, 0.49906712770462036, 0.6526183485984802, 0.344070166349411, 0.040580791136900635, -0.012837425486901177], "mean": [3.6628022350985043, -4.031564950218696, 0.7049250503980509, 0.0, 0.0, 0.30038494816126365, 0.8207157692290536, 0.18493155663777341, -0.00395508335965763, 0.5564722774257226, -0.4453104953539819, -0.02128052533552557, -0.0801797957266935, 0.03933428020858162, 0.03085357545469476, -0.030267350364152935], "std": [0.8256186609868408, 0.2092519535413558, 0.003588884805290301, 0.0, 0.0, 0.4487132717741329, 0.1866839578413411, 0.24918393350266432, 0.07794684340300917, 0.1730444112543872, 0.8336526359806362, 0.12403860579377778, 0.2821972656600095, 0.05720255412422327, 0.0107741732243839, 0.010915968213918478], "count": [1118]}, "action": {"min": [-1.0, -0.95, -1.0, 0.0, -1.0, -1.0, -0.7142857142857143, -1.0, -0.6314285714285715, -0.5542857142857143, -0.16285714285714287, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.942857142857143, 1.0, 0.6714285714285715, 0.7428571428571429, 0.23428571428571432, 1.0], "mean": [0.08078200868898545, -0.02294275491949911, 0.056066956299514616, 0.0, -0.38640429338103754, -0.0008433427038077961, -0.0038525428060311707, -0.013071811909021205, 0.012984922054689492, 0.02008433427038078, 0.006406848964988497, -0.026833631484794274], "std": [0.39628933784461573, 0.16451233264267529, 0.3240334010001913, 0.0, 0.922329508395297, 0.48600153555585474, 0.16530475520726368, 0.369662723199928, 0.11959832204113781, 0.14417485869403082, 0.04133715783098148, 0.9996399132794401], "count": [1118]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014311269856989384], "std": [0.11877061426639557], "count": [1118]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008944543828264759], "std": [0.029894051819442585], "count": [1118]}, "timestamp": {"min": [0.0], "max": [55.85], "mean": [27.924999999999997], "std": [16.136933568680266], "count": [1118]}, "frame_index": {"min": [0], "max": [1117], "mean": [558.5], "std": [322.7386713736053], "count": [1118]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1118]}, "index": {"min": [58128], "max": [59245], "mean": [58686.5], "std": [322.7386713736053], "count": [1118]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1118]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6242964943694703]], [[0.5857935265021595]], [[0.5524641436700443]]], "std": [[[0.2002705429707771]], [[0.20718569129552436]], [[0.21517225776708016]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5650377635691282]], [[0.5173895780325277]], [[0.49166269573282817]]], "std": [[[0.2301786633860238]], [[0.2387059345712935]], [[0.23644275137988838]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5747902816268943]], [[0.5192087569891237]], [[0.49350131632778876]]], "std": [[[0.2267438083125966]], [[0.2341721869779802]], [[0.22822819445606465]]], "count": [205]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1211]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1211]}, "observation.state": {"min": [1.134656412203043, -4.638243444499441, 0.6999985593753677, 0.0, 0.0, -1.0, 0.00010901473433477804, -0.14474173830856252, -0.012022185949137842, 0.22447249581787365, -0.9913883805274963, -0.48799997568130493, -0.5647755265235901, 4.98804411108722e-07, 0.01181140509456383, -0.040724600133038476], "max": [4.37514752128271, -3.6161525109394366, 0.7074917765265925, 0.0, 0.0, 0.9999940395355225, 0.7444049715995789, 0.5741889432096738, 0.16625197721066476, 0.828750027406833, 0.9541076421737671, 0.34791216254234314, 0.5769340991973877, 0.12253762781620026, 0.040071877700892766, -0.011865616822422091], "mean": [2.4973938425837674, -3.804984713768593, 0.7028231271547252, 0.0, 0.0, 0.36856125367760756, 0.3063296789589978, 0.12717455173641365, 0.03388689473690783, 0.626300906949099, -0.543275140515051, -0.09575411532163423, -0.17117683684820975, 0.03782025600391668, 0.02992115195540543, -0.028801525381911743], "std": [1.3551556135876477, 0.1973893787333568, 0.0029882195751635664, 0.0, 0.0, 0.8191635012584072, 0.315112504098421, 0.23376982717263795, 0.03542178911739717, 0.17404213160864263, 0.723064790066852, 0.14342133725912778, 0.34790211566358387, 0.022872076331329556, 0.010931137285721853, 0.010967153273019038], "count": [1211]}, "action": {"min": [-1.0, -1.0, -0.7571428571428571, 0.0, -1.0, -1.0, -0.4928571428571429, -1.0, -0.16857142857142857, -0.5542857142857143, -0.4371428571428572, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6285714285714287, 1.0, 0.2542857142857143, 0.3628571428571429, 0.21714285714285717, 1.0], "mean": [0.13902323935354477, 0.025651763595611648, 0.01977822342809957, 0.0, -0.24690338563170933, -0.0007431874483897711, 0.010746726436239216, -0.008186858558452331, 0.0005568007549840739, -0.0013377374071015691, 0.002531555974991149, 0.17423616845582163], "std": [0.42338746294601215, 0.3733741538791863, 0.20898596220544105, 0.0, 0.9690401014218097, 0.4457288200065163, 0.09052053402326277, 0.34758758964900305, 0.028526330842010502, 0.08312179956644668, 0.05552373315515364, 0.9847038933617733], "count": [1211]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013212221674621105], "std": [0.11418256908655167], "count": [1211]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008257638315441783], "std": [0.0287242396877392], "count": [1211]}, "timestamp": {"min": [0.0], "max": [60.5], "mean": [30.25], "std": [17.479273440277776], "count": [1211]}, "frame_index": {"min": [0], "max": [1210], "mean": [605.0], "std": [349.5854688055555], "count": [1211]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [1211]}, "index": {"min": [59246], "max": [60456], "mean": [59851.0], "std": [349.5854688055555], "count": [1211]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1211]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.597044895197683]], [[0.575566488130124]], [[0.5727761354538725]]], "std": [[[0.2287485354438673]], [[0.24743447983706907]], [[0.2484631088655846]]], "count": [158]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5378310668672631]], [[0.5104894581726331]], [[0.4947727759146578]]], "std": [[[0.23364769678955208]], [[0.24990835167216535]], [[0.26046952019467484]]], "count": [158]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5603539268737929]], [[0.5444639814258007]], [[0.5351803709301413]]], "std": [[[0.24329020247777985]], [[0.2524756307257392]], [[0.25701823112473127]]], "count": [158]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [861]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [861]}, "observation.state": {"min": [0.9632814338367959, -3.9995220473218858, 0.6999953683032812, 0.0, 0.0, 0.6852759122848511, 0.00546218641102314, -0.13777550055630794, -0.13782526503035086, 0.3670903599500345, -0.9951532483100891, -0.2903977632522583, -0.568145751953125, 7.476579048670828e-05, 0.02054903660814994, -0.04006340551553002], "max": [2.6852174521625685, -2.9528939630048106, 0.7022541688067843, 0.0, 0.0, 0.9999850988388062, 0.7282834649085999, 0.49853691972571557, 0.019141712801546307, 0.8558489440050843, 0.9940880537033081, 0.28801003098487854, 0.577269434928894, 0.14173726737499237, 0.040076192989952936, -0.013512498220342183], "mean": [1.6803562279060484, -3.098189302834096, 0.7010901844005621, 0.0, 0.0, 0.8561039580146887, 0.38274471445385533, 0.1301929735200374, -0.03269092056733395, 0.627083060286421, -0.22859046704262392, 0.025331925734894893, -0.092596883059568, 0.03794265642231521, 0.03425382812602431, -0.031308058713300946], "std": [0.6979852919677606, 0.18883842964983927, 0.0006056618564095438, 0.0, 0.0, 0.14119238816773536, 0.31726521560150106, 0.19806868283518658, 0.041965898774724356, 0.139060180713723, 0.91254458582473, 0.11647312695621975, 0.29838035709366406, 0.04190966954258488, 0.005789591076035561, 0.009976806710599482], "count": [861]}, "action": {"min": [-1.0, -1.0, -0.66, 0.0, -1.0, -1.0, -0.6642857142857144, -0.7357142857142858, -0.10285714285714286, -0.30285714285714294, -0.15428571428571428, -1.0], "max": [1.0, 1.0, 0.7914285714285716, 0.0, 1.0, 1.0, 0.5142857142857143, 1.0, 0.1142857142857143, 0.21142857142857144, 0.23142857142857146, 1.0], "mean": [0.09674796747967478, 0.049867263978762226, 0.030977268956363036, 0.0, -0.3704994192799071, -0.012726066036170568, -0.0056329849012776, -0.013315082130413105, -0.0023096067695370826, -0.001868259498921519, -0.0020275427244068347, 0.04529616724738676], "std": [0.3979996267434356, 0.2930206602253977, 0.21008064801360804, 0.0, 0.9288326976981627, 0.5090847240673938, 0.10204640349674009, 0.33833250528326386, 0.017156506869041858, 0.07764633978812527, 0.03230366976689326, 0.9989736018697932], "count": [861]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018583042547106743], "std": [0.1350470930337906], "count": [861]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011614401858304297], "std": [0.03406011219190518], "count": [861]}, "timestamp": {"min": [0.0], "max": [43.0], "mean": [21.5], "std": [12.42745616233132], "count": [861]}, "frame_index": {"min": [0], "max": [860], "mean": [430.0], "std": [248.54912324662638], "count": [861]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [861]}, "index": {"min": [60457], "max": [61317], "mean": [60887.0], "std": [248.54912324662638], "count": [861]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [861]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5842169127782949]], [[0.5484946093305487]], [[0.5264886948431717]]], "std": [[[0.19154995134583983]], [[0.20663265745460463]], [[0.22654817273826747]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.03529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5597825647593022]], [[0.48689624745161736]], [[0.43743850933928263]]], "std": [[[0.19481419434315309]], [[0.20923857523985476]], [[0.2279984479476706]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5409344667432403]], [[0.49190296327271144]], [[0.4586478066568424]]], "std": [[[0.19495590704032337]], [[0.20615606976842135]], [[0.22424484823757465]]], "count": [196]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1146]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1146]}, "observation.state": {"min": [0.6608828713276974, -4.409035900112705, 0.699994825376774, 0.0, 0.0, -0.12188740819692612, 0.60760498046875, -0.19436097177242004, -0.20149256397865323, 0.23106373301629135, -0.9896621108055115, -0.4578770399093628, -0.627212643623352, 8.223051963796024e-07, 0.016675210135368285, -0.04009240944076519], "max": [1.3817404355422926, -0.9687913465330331, 0.7017590074543534, 0.0, 0.0, 0.7942394018173218, 1.0, 0.5711566087734593, 0.05828506061678995, 0.8973564965687733, 0.9738416075706482, 0.4577036499977112, 0.5343641638755798, 0.28630194067955017, 0.04014342456020347, -0.016069768544146153], "mean": [1.1168528818544559, -2.2399432371007406, 0.7008233896419517, 0.0, 0.0, 0.34500644894872606, 0.8744241685247338, 0.1700188494343914, -0.04237386051573422, 0.6367068486007571, -0.6784639277383295, 0.05035632310425424, -0.3083280082557385, 0.07483676917525582, 0.03219291713267481, -0.028533413043920604], "std": [0.21774770857508335, 1.1023399616576646, 0.00048212307502837755, 0.0, 0.0, 0.31529770952759706, 0.1301548613176428, 0.2411976726734288, 0.06780409619217426, 0.20370045279232876, 0.557212545047726, 0.22973343401199486, 0.2620573074028967, 0.06743100565721573, 0.008475864451197204, 0.010470775871334485], "count": [1146]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.4785714285714286, -0.9071428571428573, -0.2542857142857143, -0.5114285714285715, -0.38285714285714284, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5857142857142857, 1.0, 0.19142857142857142, 0.6314285714285715, 0.44571428571428573, 1.0], "mean": [0.09693343305908751, 0.00906881077038146, 0.024505110944901515, 0.0, -0.3403141361256545, -0.005491149339316902, -0.010944901520817747, 0.009380453752181505, 0.004435302916978307, -0.006778858140114692, -0.0023460483669907745, 0.027923211169284468], "std": [0.38992484541145517, 0.29374054840749786, 0.2435445671952042, 0.0, 0.9403118040060183, 0.4708910927174676, 0.10098997663459042, 0.39399557057658874, 0.038456096781874255, 0.13395052241687472, 0.0749921499362152, 0.9996100711167265], "count": [1146]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013961605727672577], "std": [0.11733148992061615], "count": [1146]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008726003490401396], "std": [0.02952691852650721], "count": [1146]}, "timestamp": {"min": [0.0], "max": [57.25], "mean": [28.625], "std": [16.541078914830997], "count": [1146]}, "frame_index": {"min": [0], "max": [1145], "mean": [572.5], "std": [330.82157829662], "count": [1146]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1146]}, "index": {"min": [61318], "max": [62463], "mean": [61890.5], "std": [330.82157829662], "count": [1146]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1146]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.638798099216788]], [[0.5826237543946727]], [[0.5452999970192818]]], "std": [[[0.23260810655078235]], [[0.26382316872455397]], [[0.27578031289065347]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5691112552577604]], [[0.5214320072721977]], [[0.48440105180676796]]], "std": [[[0.23403163509680328]], [[0.23976944446942777]], [[0.24521926004965744]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5525251608337974]], [[0.5061246845603139]], [[0.47103883722467976]]], "std": [[[0.21902686197514312]], [[0.22920217731057985]], [[0.2360519402866679]]], "count": [203]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1198]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1198]}, "observation.state": {"min": [-3.2837744843189483, -5.763504849315877, 0.6999978697907179, 0.0, 0.0, -0.9999604225158691, 0.001498704543337226, -0.12620529501513467, -0.09252211188151316, 0.23813795486303502, -0.9998035430908203, -0.289773166179657, -0.428173691034317, 4.023420478915796e-05, 0.005525417517486946, -0.040508108375311276], "max": [-1.0189539479647192, -3.7394183069868614, 0.7019479168885681, 0.0, 0.0, 0.999998927116394, 0.9999997615814209, 0.5706875690481192, 0.3936985832947846, 0.7410532923458526, 0.9998341202735901, 0.2775675654411316, 0.44625142216682434, 0.12355761975049973, 0.04011768752577651, -0.008685447826779484], "mean": [-2.1157580276171557, -4.743607173915299, 0.7005476988139037, 0.0, 0.0, 0.4138384728774293, 0.8059245186540313, 0.17671618115916626, 0.02097486274046726, 0.5591285046133881, 0.03811680389963128, -0.022053560399091204, 0.09420313967008688, 0.027406701053507447, 0.026774767367877265, -0.026767409764137884], "std": [0.9595157870895279, 0.7677483321355667, 0.0005244202091990856, 0.0, 0.0, 0.3788801886759336, 0.18887342454988426, 0.22030807984992085, 0.14744574409794314, 0.1591683663181422, 0.9477487704239798, 0.10326728518397103, 0.2810639624441723, 0.023378984741262817, 0.012789725974485595, 0.012758243867830962], "count": [1198]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -0.8500000000000001, -0.10571428571428572, -0.34, -0.18285714285714286, -1.0], "max": [1.0, 1.0, 0.2057142857142857, 0.0, 1.0, 0.9571428571428572, 0.9714285714285714, 1.0, 0.1742857142857143, 0.24285714285714288, 0.21142857142857144, 1.0], "mean": [0.1623479608871929, 0.022841640829954685, -0.1122585261149535, 0.0, -0.25041736227045075, -0.006206773193417609, -0.003285237300262329, -0.0007333651323634863, 0.0020033388981636055, -0.0013212497018840928, -0.00044359647030765517, 0.03171953255425709], "std": [0.3721332241676855, 0.3773900652084849, 0.2301098198505243, 0.0, 0.9681379781175359, 0.4181344222248991, 0.21212436279112315, 0.2698436451011143, 0.020667380031075933, 0.051642624318859236, 0.037020393046864095, 0.99949680902669], "count": [1198]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013355592265725136], "std": [0.11479207873344421], "count": [1198]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008347245409015025], "std": [0.02887953905176326], "count": [1198]}, "timestamp": {"min": [0.0], "max": [59.85], "mean": [29.924999999999994], "std": [17.291634538122764], "count": [1198]}, "frame_index": {"min": [0], "max": [1197], "mean": [598.5], "std": [345.83269076245523], "count": [1198]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1198]}, "index": {"min": [62464], "max": [63661], "mean": [63062.5], "std": [345.83269076245523], "count": [1198]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1198]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5082724028259545]], [[0.46954614183492677]], [[0.4263217018544807]]], "std": [[[0.23706489716798265]], [[0.24235003308872016]], [[0.2524683893269774]]], "count": [219]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49468859108060675]], [[0.46351825127681456]], [[0.4325729751279525]]], "std": [[[0.2264542561378685]], [[0.21423241680477892]], [[0.21230531255223065]]], "count": [219]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5448416677880217]], [[0.4966487207241094]], [[0.45612448884354506]]], "std": [[[0.22513974796065434]], [[0.21365616058552767]], [[0.21807875123017587]]], "count": [219]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1323]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1323]}, "observation.state": {"min": [0.9816013833558023, -3.5825999370158508, 0.6999956041478508, 0.0, 0.0, -0.9600085020065308, 0.27997109293937683, -0.108860030450038, -0.017384964758923704, 0.24100181402832188, -0.9991148710250854, -0.22691257297992706, -0.5251690745353699, 7.62968193157576e-06, 0.0011776472653099198, -0.04023327820226292], "max": [3.6801655507034674, -1.6318942787509558, 0.7059220963119968, 0.0, 0.0, 0.004461701959371567, 1.0, 0.6647190848672722, 0.08392661642262333, 0.7838570624533195, 0.9934849143028259, 0.22663912177085876, 0.5533661246299744, 0.07748816907405853, 0.04024879550903259, -0.0013969702841518852], "mean": [2.6734614360980817, -2.910897195044686, 0.7026719092316288, 0.0, 0.0, -0.311313252634826, 0.8902049952173269, 0.19110615098603467, 0.021487209008722804, 0.6122565949757482, -0.7442628958418076, -0.012867726450356587, -0.29888836301654476, 0.042807674785439294, 0.03638928956497822, -0.034630114782235495], "std": [0.9974627769430251, 0.7195772848358498, 0.0022078843810919174, 0.0, 0.0, 0.2860003642521821, 0.16977315221917988, 0.2517518692436855, 0.018992857558339384, 0.18354102541779088, 0.5378441212112552, 0.06917337423395628, 0.24541782507182852, 0.02119551764408006, 0.0048680719355790065, 0.005319269862029754], "count": [1323]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.45, -1.0, -0.12857142857142856, -0.48, -0.12571428571428572, -1.0], "max": [1.0, 1.0, 0.6828571428571428, 0.0, 1.0, 1.0, 0.30714285714285716, 1.0, 0.08857142857142856, 0.8228571428571428, 0.18857142857142858, 1.0], "mean": [0.14398013173523383, 0.00200842241658566, -0.007809091890724541, 0.0, -0.17157974300831444, -0.008184861246085732, 0.010187884677680599, -0.029926573804124817, -0.005671093834359139, 0.0015246733614080522, 0.0008551992225461611, 0.17309145880574453], "std": [0.4446422331612946, 0.4110643968779519, 0.18995407568964248, 0.0, 0.9851702349285569, 0.4325553076404277, 0.05208991082567235, 0.3444688535959565, 0.0187974661556352, 0.11872371233716528, 0.027353759755354465, 0.9849057553332117], "count": [1323]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012093726545572281], "std": [0.10930447280406952], "count": [1323]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007558578987150416], "std": [0.027482477645801726], "count": [1323]}, "timestamp": {"min": [0.0], "max": [66.1], "mean": [33.05], "std": [19.095854698511577], "count": [1323]}, "frame_index": {"min": [0], "max": [1322], "mean": [661.0], "std": [381.9170939702315], "count": [1323]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1323]}, "index": {"min": [63662], "max": [64984], "mean": [64323.0], "std": [381.9170939702315], "count": [1323]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1323]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5050537650898878]], [[0.44924819942227634]], [[0.42107918869369193]]], "std": [[[0.2511199410762561]], [[0.2350760326586779]], [[0.23817451511259222]]], "count": [221]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5079894591727386]], [[0.4553069616186937]], [[0.4263206042622348]]], "std": [[[0.2333165940301756]], [[0.22734159991486613]], [[0.22617958846027167]]], "count": [221]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5128205385428971]], [[0.45659331557871485]], [[0.4259693445282348]]], "std": [[[0.22571881595131582]], [[0.22327151341651005]], [[0.22283241453090716]]], "count": [221]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1340]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1340]}, "observation.state": {"min": [3.196629674871134, -4.0613128189711905, 0.699998154801632, 0.0, 0.0, -1.0, 6.1944228946231306e-06, -0.04264894683146625, -0.11982598102844699, 0.2411791621823267, -0.9998392462730408, -0.0741971880197525, -0.5877209901809692, 5.044787030783482e-06, 0.02056375353869111, -0.04057323095193682], "max": [7.031285082664637, -0.9648632058741983, 0.7036202316287862, 0.0, 0.0, 1.0, 0.9815124273300171, 0.5886847254852645, 0.08967586361388413, 0.8718218926638709, 0.9604907035827637, 0.6329641342163086, 0.548673689365387, 0.14146801829338074, 0.04095937747852588, -0.018010126772277653], "mean": [5.048454364728435, -2.1703758363935575, 0.7015274214296165, 0.0, 0.0, 0.13702753198458187, 0.4032144320869941, 0.16846251710610288, -0.012096580420543034, 0.6021847127694663, -0.5058090306040066, 0.041179563488755656, -0.12342781962476299, 0.023400331862270453, 0.03779841992325722, -0.030449531446666556], "std": [1.3904796494962388, 1.0070629339298027, 0.001398168232561688, 0.0, 0.0, 0.8300993253923746, 0.359967636376518, 0.19866663083039826, 0.0362606924569376, 0.14957868308746455, 0.7756382176504985, 0.18887451648101702, 0.29755335577920555, 0.029210260825135954, 0.0025669972403522825, 0.009441886636180468], "count": [1340]}, "action": {"min": [-1.0, -1.0, -0.8914285714285715, 0.0, -1.0, -1.0, -0.39285714285714285, -0.7714285714285714, -0.31142857142857144, -0.6228571428571429, -0.5914285714285714, -1.0], "max": [1.0, 1.0, 0.5542857142857143, 0.0, 1.0, 1.0, 0.6357142857142857, 1.0, 0.18571428571428572, 0.5571428571428572, 0.6257142857142857, 1.0], "mean": [0.3289392324093816, 0.06363006396588482, -0.024439232409381666, 0.0, 0.05223880597014925, -0.003678038379530897, 0.003288912579957361, -0.007142857142857137, 0.000426439232409381, -0.005017057569296371, 0.0005373134328358197, 0.026865671641791045], "std": [0.5191054892294776, 0.5545485807875219, 0.2146735244310387, 0.0, 0.9986346214461046, 0.4210232909712111, 0.07955789537528711, 0.2785591271681181, 0.03515858933783049, 0.08234682943646435, 0.09100570550293137, 0.9996390527021403], "count": [1340]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011940298601984978], "std": [0.10861735045909882], "count": [1340]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007462686567164179], "std": [0.02730772307989849], "count": [1340]}, "timestamp": {"min": [0.0], "max": [66.95], "mean": [33.475], "std": [19.341228632121588], "count": [1340]}, "frame_index": {"min": [0], "max": [1339], "mean": [669.5], "std": [386.8245726424318], "count": [1340]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1340]}, "index": {"min": [64985], "max": [66324], "mean": [65654.5], "std": [386.8245726424318], "count": [1340]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1340]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5085511008390278]], [[0.48032969107758405]], [[0.4479480075285133]]], "std": [[[0.24428133414857078]], [[0.23717577553603642]], [[0.23610664017498978]]], "count": [207]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5029015917866996]], [[0.4408596057969535]], [[0.4037684592467158]]], "std": [[[0.22096998551831679]], [[0.2238390833286391]], [[0.22611160647652023]]], "count": [207]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5191373986412858]], [[0.47510609693166783]], [[0.4445421541731974]]], "std": [[[0.21593798015739213]], [[0.21632709861687505]], [[0.21860957272509948]]], "count": [207]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1232]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1232]}, "observation.state": {"min": [1.1253014981802014, -4.278371097138905, 0.6999950867815373, 0.0, 0.0, -0.28149518370628357, 0.6462808847427368, -0.1520157193945031, -0.13821496507424635, 0.23509329934576262, -0.9921786785125732, -0.46524637937545776, -0.5182698369026184, 2.607806891319342e-05, 0.00988430723917458, -0.040082875102079626], "max": [2.927619084556787, -1.038339330730772, 0.701858150894269, 0.0, 0.0, 0.7630996704101562, 1.0, 0.5722595260104839, 0.09440482363952096, 0.8534343976162855, 0.9871821999549866, 0.4558414816856384, 0.6157808899879456, 0.14775627851486206, 0.04016376795420539, -0.011018834078754435], "mean": [2.1663034483947645, -2.4097354271050664, 0.7008665655442825, 0.0, 0.0, 0.2625212558425054, 0.8534799812289028, 0.14993017035021353, -0.06255460571447473, 0.5892640199916704, 0.1490806650805783, 0.0033987756068636845, 0.0519046963714726, 0.041238806840180005, 0.02632886616265526, -0.02634813929371435], "std": [0.5610987736238572, 1.1518554812851258, 0.0006212151032427008, 0.0, 0.0, 0.4254078263180461, 0.14725048456174963, 0.24637819668373037, 0.04666601677291438, 0.15920240756211018, 0.9133078151144188, 0.20550530132159464, 0.30962580481143454, 0.03371849950788343, 0.013387808909968494, 0.013145560693126793], "count": [1232]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.7357142857142858, -0.7571428571428572, -0.20857142857142857, -0.4285714285714286, -0.5628571428571428, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.19714285714285715, 0.31142857142857144, 0.3342857142857143, 1.0], "mean": [0.13550556586270882, -0.053785946196660474, 0.023179499072356197, 0.0, -0.24025974025974026, -0.0022669294990723633, -0.011775278293135431, 0.0010320037105751264, -0.00020640074211502742, -0.0005797773654916503, -0.00039656771799629763, -0.012987012987012988], "std": [0.3967072339998957, 0.38910008216367625, 0.24064887818017225, 0.0, 0.9707086366208523, 0.4772581576437835, 0.11827679009885347, 0.29811631727550336, 0.032049500647639735, 0.07859298361275492, 0.08236496009440065, 0.9999156651906589], "count": [1232]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012987012974917889], "std": [0.11321815103292465], "count": [1232]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008116883116883117], "std": [0.02847857920917018], "count": [1232]}, "timestamp": {"min": [0.0], "max": [61.55], "mean": [30.775000000000002], "std": [17.78238243318369], "count": [1232]}, "frame_index": {"min": [0], "max": [1231], "mean": [615.5], "std": [355.64764866367386], "count": [1232]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1232]}, "index": {"min": [66325], "max": [67556], "mean": [66940.5], "std": [355.64764866367386], "count": [1232]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1232]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5422673733216112]], [[0.5231957778865622]], [[0.5116897770327985]]], "std": [[[0.28264062657389133]], [[0.27688605313022413]], [[0.28563335448515864]]], "count": [230]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46314074061817323]], [[0.4189463625336344]], [[0.39337356606407853]]], "std": [[[0.23726633755956233]], [[0.2554975576984278]], [[0.27540089889197505]]], "count": [230]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49674081839767154]], [[0.47512161085774324]], [[0.462900632580223]]], "std": [[[0.25509911483643777]], [[0.2650159526442486]], [[0.27550505327364677]]], "count": [230]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1412]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1412]}, "observation.state": {"min": [1.157402683881445, -4.390973394520687, 0.6999961467646986, 0.0, 0.0, -0.04670606181025505, 0.6886972188949585, -0.057869608274638384, -0.2022536158283419, 0.24357698529776284, -0.9995880126953125, -0.4133262634277344, -0.38689976930618286, 0.00011903815175173804, 0.013034557932934681, -0.040237090329869274], "max": [3.3790718833368674, -1.1011708456058278, 0.7036437574254183, 0.0, 0.0, 0.7250490188598633, 1.0, 0.5160325585811849, 0.12098082572656832, 0.7657664217401885, 0.9995447397232056, 0.5296135544776917, 0.19486120343208313, 0.4222341477870941, 0.04085162576036203, -0.011258467315203944], "mean": [2.1145131750008455, -2.6761264440047348, 0.7014209551159063, 0.0, 0.0, 0.6316229253988428, 0.7571032049382375, 0.1774542141646991, -0.011345972563963939, 0.5578507058104905, -0.7366136957076048, 0.13985731364715917, -0.23959824791219, 0.11312706126778932, 0.0309321362566997, -0.029772761274795084], "std": [0.92868306155922, 1.3325460624370855, 0.0014607830581210921, 0.0, 0.0, 0.1519478309355723, 0.06898598397620752, 0.1849726752126577, 0.09260677654493658, 0.14607360562814775, 0.5257317992274436, 0.22434642888490808, 0.15005976846974242, 0.13561696458450131, 0.01022984742883772, 0.011298941577142996], "count": [1412]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.4857142857142857, -0.8500000000000001, -0.09714285714285714, -0.5028571428571429, -0.31142857142857144, -1.0], "max": [1.0, 1.0, 0.7314285714285714, 0.0, 1.0, 0.9285714285714287, 0.5428571428571429, 1.0, 0.19714285714285715, 0.35714285714285715, 0.12857142857142856, 1.0], "mean": [0.1648876972885471, 0.04911473087818692, 0.0005281262646701681, 0.0, -0.24362606232294617, -0.007056859571023858, 0.006252529340348025, -0.0022915823553217285, 0.0036442735734520445, -0.005544314042897613, -0.005416835289356532, 0.11331444759206799], "std": [0.4314165548410767, 0.3911122220891031, 0.17487128469780452, 0.0, 0.9698692395148035, 0.3442376385239242, 0.12859532332298398, 0.256983998369463, 0.019718759155706887, 0.0911555325488032, 0.040008504629771846, 0.9935591758757532], "count": [1412]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01133144460618496], "std": [0.10584443062543869], "count": [1412]}, "next.done": {"min": [false], "max": [true], "mean": [0.000708215297450425], "std": [0.02660288947732712], "count": [1412]}, "timestamp": {"min": [0.0], "max": [70.55], "mean": [35.275], "std": [20.38045939128949], "count": [1412]}, "frame_index": {"min": [0], "max": [1411], "mean": [705.5], "std": [407.60918782578983], "count": [1412]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [1412]}, "index": {"min": [67557], "max": [68968], "mean": [68262.5], "std": [407.60918782578983], "count": [1412]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1412]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49739739750260736]], [[0.4888548542810603]], [[0.4897271748978494]]], "std": [[[0.25913463529225067]], [[0.2438448696967864]], [[0.2574140779914954]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47393477592092337]], [[0.40769694277054047]], [[0.3885824404825685]]], "std": [[[0.23970632532770786]], [[0.24758331530000552]], [[0.24433661060331946]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4829430667435773]], [[0.43993025739709135]], [[0.421970354487326]]], "std": [[[0.23841763324310952]], [[0.238453121181822]], [[0.2376042261260044]]], "count": [193]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1122]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1122]}, "observation.state": {"min": [1.151564920407248, -4.300913790305725, 0.6999939929151513, 0.0, 0.0, -0.9999966621398926, 0.0007973028114065528, -0.10944006552904284, -0.06962374918591108, 0.23755133796358796, -0.9983031153678894, -0.2546324133872986, -0.43505990505218506, 3.5427146940492094e-05, 0.020560303518376954, -0.040728916560321904], "max": [4.421590402004298, -3.5839845213862174, 0.7057037038043369, 0.0, 0.0, 0.9999997615814209, 0.707247793674469, 0.6315137820915944, 0.047901309498375344, 0.8447590292920747, 0.9960905909538269, 0.2543199956417084, 0.44496768712997437, 0.09171240031719208, 0.04032591671944499, -0.018815535971761558], "mean": [2.7937652331901504, -3.786165079411582, 0.7018087464203365, 0.0, 0.0, 0.5920710031361504, 0.3659367558150843, 0.20249740477064485, -0.0030812283537621533, 0.618964354870349, -0.26870775451209666, -0.050616584950643, -0.09120752321895081, 0.031909525828260565, 0.03550957967868345, -0.03172493676620619], "std": [1.3617614800495277, 0.16885657714927324, 0.002374949256322648, 0.0, 0.0, 0.645267510469475, 0.3149159381522222, 0.24808874403960907, 0.025741451522194266, 0.19968211549349926, 0.9088445652123152, 0.12482053674130134, 0.27168145612554034, 0.022531132680890235, 0.004411369263483388, 0.008282373011450204], "count": [1122]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.5571428571428572, -1.0, -0.14285714285714285, -0.40857142857142864, -0.19142857142857142, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5071428571428571, 1.0, 0.08857142857142856, 0.3657142857142857, 0.3057142857142857, 1.0], "mean": [0.09246880570409981, -0.0069073083778966315, 0.029192768016297423, 0.0, -0.34402852049910876, -0.003730583142347849, 0.0023745861981156135, -0.020110771581359883, -0.0024700789406671745, -0.0014260249554367218, 0.004626941685765217, 0.049910873440285206], "std": [0.39962556615936307, 0.3401496967138654, 0.21067987206925654, 0.0, 0.9389591988383659, 0.4615377702241442, 0.07719498302241687, 0.3621753163246096, 0.020993097958146818, 0.07716711551682277, 0.042207149400870725, 0.9987536756940742], "count": [1122]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014260249212384224], "std": [0.1185617744922638], "count": [1122]}, "next.done": {"min": [false], "max": [true], "mean": [0.00089126559714795], "std": [0.02984076478214475], "count": [1122]}, "timestamp": {"min": [0.0], "max": [56.05], "mean": [28.025], "std": [16.19466861861232], "count": [1122]}, "frame_index": {"min": [0], "max": [1121], "mean": [560.5], "std": [323.8933723722464], "count": [1122]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [1122]}, "index": {"min": [68969], "max": [70090], "mean": [69529.5], "std": [323.8933723722464], "count": [1122]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1122]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40161659504514025]], [[0.37605703782400063]], [[0.3661762453949107]]], "std": [[[0.23831089393793214]], [[0.2109171071322807]], [[0.23446987064970584]]], "count": [262]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36641337008305674]], [[0.3260058563602415]], [[0.3010372272063793]]], "std": [[[0.207788828226379]], [[0.1977791565038178]], [[0.2030927539908842]]], "count": [262]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37023923451663887]], [[0.3355476451337632]], [[0.31385015594158105]]], "std": [[[0.22018619727819505]], [[0.21194509357745997]], [[0.21736601966683325]]], "count": [262]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1679]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1679]}, "observation.state": {"min": [0.9459038508724673, -7.7667872565390805, 0.6999963459710364, 0.0, 0.0, -1.0, 2.3009753931546584e-05, -0.07842683270747441, -0.08888366197114106, 0.24425144960829615, -0.9963716268539429, -0.6922573447227478, -0.5341458916664124, 1.2694236829702277e-05, 0.015256118041629867, -0.04030449133731283], "max": [4.125339830503636, -1.150661070784075, 0.7020106616812796, 0.0, 0.0, 1.0, 0.9999972581863403, 0.5648395481580204, 0.00755870540558945, 0.8138363036072357, 0.9999749660491943, 0.6986202001571655, 0.5296050310134888, 0.32421472668647766, 0.04042455623798589, -0.008779627281302795], "mean": [2.4205390722698192, -4.517522827945638, 0.7012559672804418, 0.0, 0.0, 0.15977169859401677, 0.5812817642368202, 0.0812669878441499, -0.03808329808734969, 0.624070599804033, -0.22665141663997213, 0.346123213670369, -0.06065458680430683, 0.14757350745137907, 0.0322330340668886, -0.028986163038670732], "std": [0.9713209733723525, 2.2745051259294615, 0.0004379373701243343, 0.0, 0.0, 0.7118402825885268, 0.36037192950044195, 0.21104719422433582, 0.018042209249921035, 0.1336807405337731, 0.7644375245888868, 0.3575663214139579, 0.27495680034146625, 0.12470482568932822, 0.010509569551001248, 0.010213818490715024], "count": [1679]}, "action": {"min": [-1.0, -1.0, -0.982857142857143, 0.0, -1.0, -1.0, -0.5285714285714286, -0.6357142857142857, -0.19714285714285715, -0.26571428571428574, -0.7028571428571428, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.4285714285714286, 1.0, 0.24571428571428575, 0.48571428571428577, 0.4028571428571428, 1.0], "mean": [0.2838466774440569, 0.040436484301880384, 0.04393941972262395, 0.0, 0.26980345443716497, -0.006696162681868455, -0.0032927763124308697, -0.004403131115459862, -0.00021951842082872444, 0.0007419382285373951, 0.00015315238662468923, 0.18046456223942822], "std": [0.5701620711458266, 0.6249189071223615, 0.29491640038913813, 0.0, 0.9629154147555203, 0.40725753487403077, 0.06063952653787645, 0.24815181400917832, 0.023231124209365815, 0.06204579824200603, 0.07657930851978567, 0.9835814871050417], "count": [1679]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009529481641948223], "std": [0.09715280681848526], "count": [1679]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005955926146515784], "std": [0.024397497496443172], "count": [1679]}, "timestamp": {"min": [0.0], "max": [83.9], "mean": [41.95], "std": [24.234273250914704], "count": [1679]}, "frame_index": {"min": [0], "max": [1678], "mean": [839.0], "std": [484.6854650182941], "count": [1679]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [1679]}, "index": {"min": [70091], "max": [71769], "mean": [70930.0], "std": [484.6854650182941], "count": [1679]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1679]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6113890907831733]], [[0.5820404667557377]], [[0.5288408976026558]]], "std": [[[0.24442922313071141]], [[0.2523313544489449]], [[0.288409356216074]]], "count": [182]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5117930087825395]], [[0.4654151954313877]], [[0.435400154888052]]], "std": [[[0.21691790588610194]], [[0.2389277690450132]], [[0.25199527684649226]]], "count": [182]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5015322687913055]], [[0.46048141476204363]], [[0.4345584253739807]]], "std": [[[0.2066034188749601]], [[0.22485920330005502]], [[0.23440078397179945]]], "count": [182]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1037]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1037]}, "observation.state": {"min": [2.205887115632723, -4.512269647851497, 0.6999982935794219, 0.0, 0.0, -0.9999102354049683, 0.013401600532233715, -0.10108404069356425, -0.14600156431550015, 0.24807556375427753, -0.9997009038925171, -0.0863213986158371, -0.4088321328163147, 0.000340478727594018, 0.02053521334272387, -0.04005000204223451], "max": [4.7586266124579275, -1.0091476978993772, 0.7037252216689063, 0.0, 0.0, 0.9998626708984375, 1.0, 0.5725796041485196, 0.043885972874964096, 0.7136025002559631, 0.9959388971328735, 0.15600913763046265, 0.4729452133178711, 0.14408163726329803, 0.040301185804202215, -0.02053134573677216], "mean": [3.8000480985846634, -2.6102292881738376, 0.7015650955649921, 0.0, 0.0, 0.20648523654540285, 0.7341860587104235, 0.17830438438759608, -0.015093220820298733, 0.5850256879070205, -0.23930722222148854, 0.022867530557392532, -0.03832466264970227, 0.024866377158187465, 0.03692593469668761, -0.03604521659421595], "std": [0.7941720848951853, 1.3246404702640515, 0.001203505040418549, 0.0, 0.0, 0.6216998515697437, 0.17839275140509878, 0.2030295585154936, 0.047428050191512, 0.14607437149562702, 0.9100150037947121, 0.06660264270333158, 0.3263160845732224, 0.03281171002418568, 0.0031523599343909296, 0.0042093085661864685], "count": [1037]}, "action": {"min": [-1.0, -1.0, 0.0, 0.0, -1.0, -1.0, -0.3857142857142857, -1.0, -0.13142857142857142, -0.5342857142857143, -0.12285714285714287, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.7714285714285714, 1.0, 0.12571428571428572, 0.24571428571428575, 0.17142857142857143, 1.0], "mean": [0.21098636175781793, -0.08357900537264082, 0.1408320705331314, 0.0, -0.14754098360655737, -0.010242457638793254, 0.0043738806998209045, -0.037140101942416286, -0.0014244386279101805, -0.0016090370574459295, -0.002113238738118197, 0.06846673095467695], "std": [0.49090440661352536, 0.36695471617559877, 0.26761857935108335, 0.0, 0.9890559428851419, 0.46651312875397666, 0.11972894664318998, 0.3283825292277624, 0.017444931860344695, 0.0942848005910903, 0.02767312185638814, 0.9976534001106675], "count": [1037]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015429122373461723], "std": [0.1232520341873169], "count": [1037]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009643201542912247], "std": [0.031038528330628895], "count": [1037]}, "timestamp": {"min": [0.0], "max": [51.8], "mean": [25.9], "std": [14.967798769358172], "count": [1037]}, "frame_index": {"min": [0], "max": [1036], "mean": [518.0], "std": [299.3559753871634], "count": [1037]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [1037]}, "index": {"min": [71770], "max": [72806], "mean": [72288.0], "std": [299.3559753871634], "count": [1037]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1037]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5473465062617705]], [[0.5120941364503925]], [[0.4926160047531861]]], "std": [[[0.248438547567678]], [[0.25850751641798636]], [[0.26634999334279696]]], "count": [204]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5332386619629469]], [[0.47507094750263196]], [[0.4335260284904882]]], "std": [[[0.23344048063271794]], [[0.2410943878192666]], [[0.2571022450425814]]], "count": [204]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.520699336408698]], [[0.48873167760277747]], [[0.465727848110177]]], "std": [[[0.248801103009151]], [[0.2477018122940174]], [[0.25186826619910857]]], "count": [204]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1205]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1205]}, "observation.state": {"min": [0.8984835669764961, -4.205718973903602, 0.699993028751254, 0.0, 0.0, 0.49742987751960754, 0.6735280752182007, -0.12696656745374657, -0.2888723833560136, 0.2325252579381476, -0.9989508390426636, -0.08262988924980164, -0.497133731842041, 1.2920927474624477e-05, 0.012520375150633974, -0.04008920547545342], "max": [3.3135771232062923, -1.1138919332965689, 0.7021211683515692, 0.0, 0.0, 0.7391615509986877, 0.8675041198730469, 0.5473655088889631, 0.025536618086798413, 0.7936808474575652, 0.9979003667831421, 0.12583373486995697, 0.4540501534938812, 0.10214509069919586, 0.04013767823500197, -0.00427044201639434], "mean": [2.1190339532746925, -2.804069651447483, 0.7007846821533903, 0.0, 0.0, 0.6782982080061901, 0.731914396256332, 0.11935677389684314, -0.05360145619253385, 0.5958980731668472, -0.24661289166612743, 0.0023200524700380458, 0.01876647412908337, 0.025836652687864455, 0.03053486797731685, -0.02936123624011448], "std": [0.9065904522596978, 1.2956601956790483, 0.0008165434057669494, 0.0, 0.0, 0.049171299627434606, 0.042367831184343924, 0.22864748726308343, 0.08485331576794798, 0.17851359340352763, 0.9157911677138444, 0.051422207111787924, 0.3106782819371685, 0.017840557857132972, 0.010555623569274426, 0.011205372290834832], "count": [1205]}, "action": {"min": [-1.0, -1.0, -0.43428571428571433, 0.0, -1.0, -1.0, -0.7714285714285714, -0.8357142857142857, -0.12571428571428572, -0.34, -0.14857142857142858, -1.0], "max": [1.0, 1.0, 0.34, 0.0, 1.0, 1.0, 0.6857142857142858, 1.0, 0.26285714285714284, 0.32, 0.2257142857142857, 1.0], "mean": [0.13059869590989928, 0.04786010669828098, -0.0018992294013040931, 0.0, -0.1933609958506224, -0.00410788381742738, -0.0034202726733846994, 0.007765263781861311, 0.0010124481327800827, -0.0004410195613515126, 0.0012803793716656792, 0.05560165975103734], "std": [0.5017590757954482, 0.42106199330960437, 0.0822275427916112, 0.0, 0.9811276804186395, 0.43669472194246933, 0.16097876681662154, 0.31691388121213293, 0.025134569096136195, 0.06892397466182774, 0.029524817527314052, 0.9984530311601739], "count": [1205]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013278008438646793], "std": [0.11446267366409302], "count": [1205]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008298755186721991], "std": [0.028795604270369247], "count": [1205]}, "timestamp": {"min": [0.0], "max": [60.2], "mean": [30.1], "std": [17.392670870225768], "count": [1205]}, "frame_index": {"min": [0], "max": [1204], "mean": [602.0], "std": [347.85341740451537], "count": [1205]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [1205]}, "index": {"min": [72807], "max": [74011], "mean": [73409.0], "std": [347.85341740451537], "count": [1205]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1205]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49021711617784425]], [[0.4656054920349381]], [[0.4314158915253856]]], "std": [[[0.23819303923520502]], [[0.2331038944194927]], [[0.2511426288772862]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4819665315307721]], [[0.4646358633082033]], [[0.4410718864187255]]], "std": [[[0.21657021202093663]], [[0.2071911899265407]], [[0.19990780269025235]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4694103614956725]], [[0.4562413933535264]], [[0.43816033060085235]]], "std": [[[0.2265505637286566]], [[0.21783442357295496]], [[0.21242053055160404]]], "count": [184]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1050]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1050]}, "observation.state": {"min": [0.9886511425743826, -3.7297489080628385, 0.6999960361900536, 0.0, 0.0, 0.5202889442443848, 0.019305838271975517, -0.15272921468519263, -0.23058504553628323, 0.35452940773270447, -0.999424934387207, -0.2041682004928589, -0.5068375468254089, 7.934360473882407e-05, -0.00019578469226208162, -0.04002354182660892], "max": [2.8509888601701827, -3.0115420720787, 0.7041346917604425, 0.0, 0.0, 0.9998136162757874, 0.8539902567863464, 0.5827076263375094, 0.16178058787747363, 0.7940359304260175, 0.9871618151664734, 0.2962225675582886, 0.5031775236129761, 0.24196337163448334, 0.04103282012401857, -0.0011709766189409677], "mean": [1.7023894821778773, -3.1404877180989894, 0.7012802540677215, 0.0, 0.0, 0.8275205260799045, 0.41965974117850974, 0.18101372239486554, -0.050348302389463355, 0.6106404834323648, -0.39399576902389527, -0.0024833142367147263, -0.10240894080610902, 0.07517820724546688, 0.03640644586278738, -0.03057255988104385], "std": [0.719185158952246, 0.11391938734334553, 0.001729528745573349, 0.0, 0.0, 0.1675930252133952, 0.33317872552237404, 0.24801119090581336, 0.10408849411517204, 0.1529714738947309, 0.8513957071519347, 0.12497704004656283, 0.2881337581865653, 0.07146215369764716, 0.006371282798443442, 0.00948596917827927], "count": [1050]}, "action": {"min": [-1.0, -0.8714285714285716, -0.9542857142857143, 0.0, -1.0, -1.0, -0.8642857142857142, -0.9928571428571428, -0.19142857142857142, -0.6971428571428572, -0.20857142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.9071428571428573, 0.9, 1.0, 0.19428571428571428, 0.24285714285714288, 0.24571428571428575, 1.0], "mean": [0.08814965986394559, 0.0330408163265306, 0.026214965986394577, 0.0, -0.43047619047619046, -0.00508843537414965, -0.006891156462585041, -0.022401360544217656, -0.0006367346938775495, -0.005638095238095242, -0.005564625850340124, -0.007619047619047619], "std": [0.33765569342254986, 0.27579656747926806, 0.23375326515240735, 0.0, 0.9026019329876854, 0.4731734940214761, 0.18225476036826554, 0.30272663764691365, 0.03772457615008018, 0.09178126078645757, 0.04971570246222866, 0.9999709746354486], "count": [1050]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1050]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009523809523809524], "std": [0.030845970934669804], "count": [1050]}, "timestamp": {"min": [0.0], "max": [52.45], "mean": [26.225], "std": [15.155437693008627], "count": [1050]}, "frame_index": {"min": [0], "max": [1049], "mean": [524.5], "std": [303.10875386017256], "count": [1050]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [1050]}, "index": {"min": [74012], "max": [75061], "mean": [74536.5], "std": [303.10875386017256], "count": [1050]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1050]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4714341921452286]], [[0.44887646562647016]], [[0.42566948663722004]]], "std": [[[0.2301896332791354]], [[0.2138653935472378]], [[0.21280842183101012]]], "count": [211]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4395367285873176]], [[0.4265617649236827]], [[0.41016507034861854]]], "std": [[[0.22182760222503545]], [[0.21348463945408386]], [[0.20853765728051396]]], "count": [211]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4712262880601645]], [[0.4547226648372341]], [[0.43384581453216836]]], "std": [[[0.22270856263742977]], [[0.21362419519022913]], [[0.20749904258474747]]], "count": [211]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1257]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1257]}, "observation.state": {"min": [1.1797277215798827, -3.79107125564298, 0.6999936448668053, 0.0, 0.0, -0.03981231153011322, 0.6731650829315186, -0.04654438273339512, -0.07766376427286437, 0.24491193569952863, -0.9981940388679504, -0.12688212096691132, -0.49007517099380493, 0.00033984254696406424, 0.006911564474255618, -0.0400531201481621], "max": [3.7403533230256336, -2.724935225373708, 0.7009917136209871, 0.0, 0.0, 0.7394921779632568, 1.0, 0.6821850491086883, 0.1453248321684124, 0.7776182867234819, 0.9988518357276917, 0.6407550573348999, 0.4478624165058136, 0.3680347204208374, 0.0402583652504818, -0.009374088573155272], "mean": [2.4434458807986124, -3.204250296938835, 0.7002773968772757, 0.0, 0.0, 0.4015040685808489, 0.8389347368701641, 0.24153943757258545, 0.0015363267716481301, 0.5654912643616078, 0.2278525330001813, 0.2463468192034092, 0.081145503401933, 0.1527891562241061, 0.025027700297745786, -0.025538435190527432], "std": [1.0096047681301206, 0.3690295937555969, 0.0002034816960274703, 0.0, 0.0, 0.33517154144575917, 0.15047599057805708, 0.25190307521247246, 0.054265193193303016, 0.17348704126326567, 0.8219882741533261, 0.2782697001672413, 0.3004279304533422, 0.11879248518635994, 0.014747706449016572, 0.014525621947425942], "count": [1257]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.7071428571428572, -0.6642857142857144, -0.22285714285714286, -0.5342857142857143, -0.76, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5928571428571429, 1.0, 0.52, 0.4257142857142857, 0.4371428571428572, 1.0], "mean": [0.09927264461870668, 0.04872144561882034, -0.007534947153085578, 0.0, -0.2569610182975338, 9.660188657802766e-05, -0.005898397545175576, -0.001471758154335755, 0.0019593135583589067, -0.004211842254801684, -0.0009546539379474936, -0.03739061256961018], "std": [0.42888843854737735, 0.2891703916886865, 0.23941283221624304, 0.0, 0.9664217687301443, 0.46927640948693317, 0.10822386153046801, 0.2802791390337426, 0.056667237303473374, 0.10683459567369204, 0.10331871236793985, 0.9993007265541624], "count": [1257]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012728719040751457], "std": [0.11210129410028458], "count": [1257]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007955449482895784], "std": [0.028194184799792125], "count": [1257]}, "timestamp": {"min": [0.0], "max": [62.8], "mean": [31.400000000000002], "std": [18.143226467931957], "count": [1257]}, "frame_index": {"min": [0], "max": [1256], "mean": [628.0], "std": [362.8645293586391], "count": [1257]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [1257]}, "index": {"min": [75062], "max": [76318], "mean": [75690.0], "std": [362.8645293586391], "count": [1257]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1257]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5781335288297433]], [[0.520751362854795]], [[0.46444500557301616]]], "std": [[[0.23185778515369665]], [[0.2145172595536973]], [[0.21469388758506572]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5053385152972073]], [[0.4542333786942125]], [[0.42557525144564134]]], "std": [[[0.22780839270109096]], [[0.21254345106210717]], [[0.20287433894768825]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5123458830188039]], [[0.4576460268986876]], [[0.42541089161984535]]], "std": [[[0.2195568327703369]], [[0.20881376611350252]], [[0.20346399439526633]]], "count": [177]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [998]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [998]}, "observation.state": {"min": [2.483038096771427, -4.5289345937612495, 0.6999970983965473, 0.0, 0.0, -0.9995964169502258, 0.0047907582484185696, -0.12172297865874748, -0.12210278395842344, 0.24224729010412638, -0.9954400062561035, -0.3806442320346832, -0.5185449719429016, 8.901741966838017e-05, 0.007244330915072735, -0.040080207643953], "max": [4.682324889295466, -3.7972565617821274, 0.7022507952258139, 0.0, 0.0, 0.9999885559082031, 0.9999995231628418, 0.6114695233557961, 0.39316298560370155, 0.7917508647068675, 0.9725281000137329, 0.38044172525405884, 0.17161047458648682, 0.33121946454048157, 0.04010204871288049, -0.002092228261013531], "mean": [3.5865735086639035, -4.054406426711685, 0.7008339934169159, 0.0, 0.0, 0.31171264444239427, 0.8314725499770945, 0.20690978895535733, 0.031485160654347095, 0.5536461230495029, -0.7867773368148383, 0.03561472257446192, -0.2439554113022636, 0.08474728903189874, 0.030408531229532344, -0.02777749168365361], "std": [0.8001914550764742, 0.22973973686573013, 0.0006616902701086851, 0.0, 0.0, 0.4257961402664027, 0.17374198024183077, 0.24979073199817464, 0.12294499650839454, 0.16537131003071584, 0.4954077857173331, 0.19142828194312403, 0.16195770378151358, 0.06864920076314632, 0.013766716540123753, 0.013817975121121965], "count": [998]}, "action": {"min": [-1.0, -0.9642857142857144, -1.0, 0.0, -1.0, -1.0, -1.0, -0.6357142857142857, -0.3314285714285714, -0.4714285714285714, -0.30285714285714294, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.8928571428571429, 1.0, 0.19142857142857142, 0.5771428571428572, 0.3, 1.0], "mean": [0.09438162038362438, -0.0024262811336959638, 0.07198396793587165, 0.0, -0.3166332665330661, 0.004408817635270551, -0.013068995133123401, -0.010077297452046951, -0.002006870884626396, -0.0009476095047237365, 0.0008245061551674836, 0.008016032064128256], "std": [0.4505002434073237, 0.20327316393860473, 0.32954185585437373, 0.0, 0.9485480349062894, 0.5460678002884963, 0.2029874122156936, 0.331298936728443, 0.049028400042247934, 0.1079888243671717, 0.06340861653151077, 0.9999678710988484], "count": [998]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [998]}, "next.done": {"min": [false], "max": [true], "mean": [0.001002004008016032], "std": [0.03163858397564518], "count": [998]}, "timestamp": {"min": [0.0], "max": [49.85], "mean": [24.925], "std": [14.4048819849383], "count": [998]}, "frame_index": {"min": [0], "max": [997], "mean": [498.5], "std": [288.097639698766], "count": [998]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [998]}, "index": {"min": [76319], "max": [77316], "mean": [76817.5], "std": [288.097639698766], "count": [998]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [998]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5133547244251375]], [[0.4776004715653153]], [[0.44452635069151186]]], "std": [[[0.19342602756075822]], [[0.1943459608206717]], [[0.19627315022438876]]], "count": [185]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5660285225985981]], [[0.5219295677585328]], [[0.469352027880937]]], "std": [[[0.23447429581738316]], [[0.24066993478685333]], [[0.240825505956354]]], "count": [185]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5350540311537411]], [[0.5038641315373278]], [[0.4679863922976285]]], "std": [[[0.21952199261544475]], [[0.2216175873016026]], [[0.22365779356346457]]], "count": [185]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1061]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1061]}, "observation.state": {"min": [0.4072056917897467, -4.2194670809254875, 0.6999949157726518, 0.0, 0.0, -0.9999958276748657, 0.00291347480379045, -0.07904560021899387, -0.2814263005626598, 0.22620322688231775, -0.9904526472091675, -0.6906994581222534, -0.5481947064399719, 4.8030273319454864e-05, 0.0039425740109153675, -0.042144436019981774], "max": [1.3864100655193774, -0.9617485887328063, 0.7042725817123661, 0.0, 0.0, 0.9995418787002563, 1.0, 0.6022915713614625, -0.0007288624335344274, 0.8557890670304048, 0.9863564968109131, 0.5884612798690796, 0.577578604221344, 0.33205944299697876, 0.040293109798465954, -0.014316350545585844], "mean": [1.0806839295759265, -2.155467029476647, 0.7017323647479716, 0.0, 0.0, 0.340916860263944, 0.8288061834648375, 0.18330796137412095, -0.10854091407162707, 0.5970536947119147, 0.23528981484072484, 0.12061696462368314, 0.08823983183863128, 0.07605192824096302, 0.0313839194939889, -0.0350184847091102], "std": [0.2556166669021573, 1.0307183517801755, 0.001641520186420926, 0.0, 0.0, 0.40685927276550554, 0.1769789687017096, 0.23559782890110978, 0.06910455751902067, 0.17931044401188947, 0.8288885187024745, 0.31760869268612096, 0.34809189134040847, 0.08614329925439333, 0.008493308823293532, 0.006879740973825535], "count": [1061]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.5571428571428572, -1.0, -0.1657142857142857, -0.5114285714285715, -0.37714285714285717, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5428571428571429, 1.0, 0.4285714285714286, 0.40571428571428575, 0.3342857142857143, 1.0], "mean": [0.07993806382119294, 0.0174363807728558, -0.06697455230914236, 0.0, -0.24976437323279924, -0.013955836811633236, -0.001306045509627037, -0.010199272923118397, 0.0019254072976975897, -0.008097482159687627, 0.007311161976571967, 0.02544769085768143], "std": [0.4218305518288568, 0.270832078651658, 0.328072546353498, 0.0, 0.9683066445417114, 0.5382325684032139, 0.13722303933725946, 0.41411352785860495, 0.04380902134513518, 0.11764436010138286, 0.08509436830540623, 0.999676155077242], "count": [1061]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015080112963914871], "std": [0.12187165766954422], "count": [1061]}, "next.done": {"min": [false], "max": [true], "mean": [0.000942507068803016], "std": [0.0306858069672002], "count": [1061]}, "timestamp": {"min": [0.0], "max": [53.0], "mean": [26.5], "std": [15.31420908829444], "count": [1061]}, "frame_index": {"min": [0], "max": [1060], "mean": [530.0], "std": [306.2841817658888], "count": [1061]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [1061]}, "index": {"min": [77317], "max": [78377], "mean": [77847.0], "std": [306.2841817658888], "count": [1061]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1061]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5745866134202873]], [[0.5758822598526884]], [[0.5697698793030818]]], "std": [[[0.20372726976838887]], [[0.1767251070470892]], [[0.17634805808164383]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5677852775421187]], [[0.5567365804248694]], [[0.5384415514421016]]], "std": [[[0.17502239209913512]], [[0.1760624165240796]], [[0.1783957812497287]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5799719221774108]], [[0.5681981158489122]], [[0.5465567971362845]]], "std": [[[0.19223450430961792]], [[0.18855288655389205]], [[0.19153709468661334]]], "count": [203]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1195]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1195]}, "observation.state": {"min": [0.9845896193735151, -3.8493603642035503, 0.6999947296773239, 0.0, 0.0, -1.0, 0.00030697628972120583, -0.09242620822331782, -0.038485582151422726, 0.23168789373044885, -0.9989331364631653, -0.20209255814552307, -0.6101177930831909, 8.901912224246189e-05, 0.012497662893971835, -0.04025423997275226], "max": [3.7762400317357656, -2.7026134631444827, 0.7029765960418126, 0.0, 0.0, 1.0, 0.707172691822052, 0.6992132851012713, 0.3576785052767488, 0.8123675667656158, 0.9858265519142151, 0.15253320336341858, 0.5363433957099915, 0.09914097934961319, 0.040030226095262585, -0.010510125587768673], "mean": [2.2036787955458226, -3.3077632614577275, 0.700788755168761, 0.0, 0.0, 0.5141589898444618, 0.28777460206190913, 0.18259927964123923, 0.059674084874809075, 0.6140229696530773, -0.6802831264719305, -0.04272475461456068, -0.3000563567434145, 0.025078574508711333, 0.028672333060163882, -0.03285573660863237], "std": [1.0538286505079053, 0.32859113005402635, 0.0006562519565182416, 0.0, 0.0, 0.7631498651654387, 0.2653838694597363, 0.23638682599962, 0.088982868638684, 0.1660476341169213, 0.6087131598788328, 0.06466708731634858, 0.2637559450036649, 0.02111806779562601, 0.01065038441892263, 0.010837645127866632], "count": [1195]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -0.95, -0.10571428571428572, -0.5228571428571429, -0.2571428571428571, -1.0], "max": [1.0, 1.0, 0.8457142857142858, 0.0, 1.0, 1.0, 0.8714285714285716, 1.0, 0.14, 0.45999999999999996, 0.2714285714285714, 1.0], "mean": [0.1631141661685594, -0.010651524208009551, 0.019770472205618655, 0.0, -0.2217573221757322, -0.00801554094441126, -0.002349073520621621, -0.01474596533173941, -0.0009563658099222959, -0.0035505080693365213, -7.172743574416264e-06, 0.03430962343096234], "std": [0.40225412240358327, 0.34878460171305864, 0.20381510735787423, 0.0, 0.9751018870156295, 0.4742134665418863, 0.16911162823660628, 0.33899914210176557, 0.01899032984690858, 0.07922300599503757, 0.043664207412047434, 0.9994112515576499], "count": [1195]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013389121741056442], "std": [0.11493412405252457], "count": [1195]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008368200836820083], "std": [0.028915736473926354], "count": [1195]}, "timestamp": {"min": [0.0], "max": [59.7], "mean": [29.85], "std": [17.248333252810255], "count": [1195]}, "frame_index": {"min": [0], "max": [1194], "mean": [597.0], "std": [344.9666650562051], "count": [1195]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [1195]}, "index": {"min": [78378], "max": [79572], "mean": [78975.0], "std": [344.9666650562051], "count": [1195]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1195]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6040369268792054]], [[0.5867873996852697]], [[0.551287812818536]]], "std": [[[0.2315150432063768]], [[0.23010042587596227]], [[0.24865217480351656]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5447805732315897]], [[0.5108549384539217]], [[0.48936019523000585]]], "std": [[[0.24418559414549934]], [[0.24305573771827121]], [[0.25008262915220747]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5419977818248098]], [[0.51438141301934]], [[0.49585173834206686]]], "std": [[[0.24864951771404278]], [[0.24943979251598652]], [[0.2566321170431238]]], "count": [159]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [862]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [862]}, "observation.state": {"min": [1.8397159180126657, -3.5122004914230724, 0.6999950006863187, 0.0, 0.0, 0.6946691274642944, 0.6718015670776367, -0.08690216245629356, -0.14847667907819195, 0.22651175456230044, -0.9926007390022278, -0.23538723587989807, -0.5469010472297668, 0.00011198258289368823, 0.009728667797308113, -0.04000753799224687], "max": [3.8735141367335997, -0.9655556174842108, 0.7033494802620801, 0.0, 0.0, 0.7407311797142029, 0.7193294167518616, 0.6018773140403759, 0.06720857311418671, 0.8262742264401726, 0.9889723658561707, 0.28239622712135315, 0.29620999097824097, 0.24617496132850647, 0.040591526288421914, -0.015280997600390308], "mean": [3.015791570271963, -2.313057273508707, 0.7016054086934914, 0.0, 0.0, 0.7156184062603731, 0.6983385030742034, 0.20819900575505684, -0.05944252752100173, 0.5886522700956406, -0.7491187970488917, 0.14872883538566442, -0.29621861528785787, 0.0945854770243956, 0.03044684628491269, -0.028792842926515162], "std": [0.7850548353400237, 1.0217339388018611, 0.0010677151384691566, 0.0, 0.0, 0.010185878777616996, 0.010482369918495594, 0.22334779902257762, 0.044604373470110655, 0.1709022962191002, 0.5192036962504466, 0.12312897012719873, 0.17508657896139862, 0.06797312903788305, 0.009339632784526724, 0.010067284328687491], "count": [862]}, "action": {"min": [-1.0, -1.0, -0.2485714285714286, 0.0, -1.0, -1.0, -0.6, -1.0, -0.2142857142857143, -0.7914285714285716, -0.4628571428571429, -1.0], "max": [1.0, 1.0, 0.19714285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2542857142857143, 0.28285714285714286, 0.34, 1.0], "mean": [0.11670533642691415, -0.03516738481935696, 0.002429565793834937, 0.0, -0.19953596287703015, -0.008203513423931075, -0.007963208485250237, -0.0025604905535300195, -0.0003347696387139526, -0.0034968511766655694, -0.0039575737487570475, 0.03248259860788863], "std": [0.5306677051881326, 0.43360545780604653, 0.04170971943164981, 0.0, 0.9798905038414994, 0.533512489597592, 0.1402892403249247, 0.43744624402917764, 0.03725476701773157, 0.10925017620591189, 0.05509644677457905, 0.9994723011608025], "count": [862]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018561484292149544], "std": [0.13497020304203033], "count": [862]}, "next.done": {"min": [false], "max": [true], "mean": [0.001160092807424594], "std": [0.034040372972439004], "count": [862]}, "timestamp": {"min": [0.0], "max": [43.05], "mean": [21.525], "std": [12.441889928784933], "count": [862]}, "frame_index": {"min": [0], "max": [861], "mean": [430.5], "std": [248.8377985756987], "count": [862]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [862]}, "index": {"min": [79573], "max": [80434], "mean": [80003.5], "std": [248.8377985756987], "count": [862]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [862]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5097986401659731]], [[0.46097253238453584]], [[0.40819310971594586]]], "std": [[[0.19901124354980518]], [[0.19104344325479425]], [[0.2071391338356907]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4499291240883289]], [[0.4205897824488954]], [[0.4028190436602158]]], "std": [[[0.20107522158233113]], [[0.20088132430740976]], [[0.21105097939887055]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46522259681053413]], [[0.4450044267110056]], [[0.4315886114781199]]], "std": [[[0.1985508273552164]], [[0.1986932426318311]], [[0.20622217574022314]]], "count": [180]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1020]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1020]}, "observation.state": {"min": [1.0299834852197676, -4.3752995100281415, 0.6999959690398706, 0.0, 0.0, -0.9999979734420776, 0.0013396324357017875, -0.1724012004189186, -0.07511021742277535, 0.24735442189250878, -0.9999613761901855, -0.1532663106918335, -0.5470766425132751, 0.0006320773391053081, 0.001106878480712905, -0.040317702116072655], "max": [3.2966261512021027, -2.9248022793847017, 0.7055633760289229, 0.0, 0.0, 0.9999991655349731, 0.9209038615226746, 0.5494806126833678, 0.08056151782858523, 0.7776305476069826, 0.9909043312072754, 0.7571443915367126, 0.6148749589920044, 0.3079894781112671, 0.040477227631481344, -0.011913242458506093], "mean": [2.0246529124651285, -3.5711707383843896, 0.7012648162711671, 0.0, 0.0, 0.8179670088431414, 0.46962346400056654, 0.17565442299593645, -0.003889028374987598, 0.5666530747171397, -0.025096855940772038, 0.18941166639674967, 0.10854748363776975, 0.09724724574697058, 0.029613264405569547, -0.03097790858589145], "std": [0.88179008169492, 0.47092821462119083, 0.0016157835512815466, 0.0, 0.0, 0.20441704952661588, 0.26191112686506995, 0.23368100921116366, 0.03457240423791266, 0.1730170829391504, 0.8602262880954924, 0.3119978258732258, 0.30952835888873065, 0.09546763638717033, 0.012160114820142233, 0.010521111127835903], "count": [1020]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.5142857142857143, -1.0, -0.32, -0.54, -0.2057142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.4857142857142857, 1.0, 0.3457142857142857, 0.5028571428571429, 0.88, 1.0], "mean": [0.12902661064425772, -0.03696078431372548, 0.02210084033613445, 0.0, -0.2196078431372549, 0.005007002801120455, -0.0037605042016806683, -0.02937675070028009, 0.006240896358543417, -0.0064033613445378165, 0.018182072829131653, 0.08235294117647059], "std": [0.43232800729829507, 0.37813270236649105, 0.2542534919535273, 0.0, 0.9755882303680272, 0.48850582916586555, 0.09550215981703199, 0.389105850715342, 0.060220838684973556, 0.1128713131758514, 0.1147253469152963, 0.9966032275081188], "count": [1020]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01568627543747425], "std": [0.12425866723060608], "count": [1020]}, "next.done": {"min": [false], "max": [true], "mean": [0.000980392156862745], "std": [0.0312958621559066], "count": [1020]}, "timestamp": {"min": [0.0], "max": [50.95], "mean": [25.475], "std": [14.722424788962812], "count": [1020]}, "frame_index": {"min": [0], "max": [1019], "mean": [509.5], "std": [294.44849577925623], "count": [1020]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [1020]}, "index": {"min": [80435], "max": [81454], "mean": [80944.5], "std": [294.44849577925623], "count": [1020]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1020]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.579613456716189]], [[0.5309421821034737]], [[0.492269742461059]]], "std": [[[0.23394318695111357]], [[0.2457355671383818]], [[0.252547430419793]]], "count": [227]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6001682626487492]], [[0.5363351524519758]], [[0.5030072293524979]]], "std": [[[0.213837259498803]], [[0.23104650703392934]], [[0.22811755064663397]]], "count": [227]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.571934441926206]], [[0.5124957427754452]], [[0.4775703052561281]]], "std": [[[0.22389849475268325]], [[0.2276832190920912]], [[0.22024711128724808]]], "count": [227]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1388]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1388]}, "observation.state": {"min": [1.0174310299356821, -4.672962181525707, 0.699997984421712, 0.0, 0.0, -1.0, 0.00036001516855321825, -0.20008294433773788, -0.017534156128699685, 0.23885258919143693, -0.9997355341911316, -0.11051356792449951, -0.5998193621635437, 1.4450864000536967e-05, 0.020568090014140433, -0.040082549223280736], "max": [3.3290333970332204, -0.6946833736503826, 0.7021598206852554, 0.0, 0.0, 0.9999991655349731, 0.9999589920043945, 0.6589422163448475, 0.22670992297148773, 0.8122817425138449, 0.998096764087677, 0.11285668611526489, 0.5842058062553406, 0.1167033240199089, 0.04019218968121753, -0.01830626225341834], "mean": [1.914418349449271, -2.5508539145694265, 0.7010184138644813, 0.0, 0.0, 0.3670418934389326, 0.4399892233494721, 0.07672181260301593, 0.07386080636434356, 0.6546183188382303, -0.715290429398031, -0.04721428774383123, -0.261315200696285, 0.06063802433050638, 0.03584991621312306, -0.031598001746453615], "std": [0.8871834832748764, 1.635261887011738, 0.0005267937829389212, 0.0, 0.0, 0.732596514110023, 0.3674126958581397, 0.26954841896567244, 0.041375409769159766, 0.17075953268571772, 0.5955277312962418, 0.03866837164914482, 0.23834279586692478, 0.03481371825603768, 0.005161510353195847, 0.008193384572791082], "count": [1388]}, "action": {"min": [-1.0, -1.0, -0.44857142857142857, 0.0, -1.0, -1.0, -0.5285714285714286, -0.8, -0.11142857142857143, -0.4371428571428572, -0.09714285714285714, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5714285714285715, 1.0, 0.17142857142857143, 0.2257142857142857, 0.16, 1.0], "mean": [0.24184849732400154, -0.0918227665706052, 0.09470564018114465, 0.0, -0.04178674351585014, 0.003303828736105388, 0.0073126801152737725, -0.003411897900370533, 0.0017949773569370117, -0.002348703170028818, -0.00024289831206257762, 0.15706051873198848], "std": [0.4906617203542973, 0.43255430622833985, 0.24473007018626544, 0.0, 0.9991265525779646, 0.44610816216432403, 0.09408298271246311, 0.3158540849696317, 0.02164501270003845, 0.07722153579613521, 0.02090944792774618, 0.9875889800193497], "count": [1388]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011527377180755138], "std": [0.10674501210451126], "count": [1388]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007204610951008645], "std": [0.026831735518063504], "count": [1388]}, "timestamp": {"min": [0.0], "max": [69.35], "mean": [34.675000000000004], "std": [20.03404914139925], "count": [1388]}, "frame_index": {"min": [0], "max": [1387], "mean": [693.5], "std": [400.68098282798496], "count": [1388]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [1388]}, "index": {"min": [81455], "max": [82842], "mean": [82148.5], "std": [400.68098282798496], "count": [1388]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1388]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5291140048181173]], [[0.5070025598165446]], [[0.4727045663034442]]], "std": [[[0.24768796238890253]], [[0.2438809049180919]], [[0.2654643955676961]]], "count": [206]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5377693581485803]], [[0.49688392811994336]], [[0.4567988260800376]]], "std": [[[0.24027756295329736]], [[0.24372687936815743]], [[0.25255808976092226]]], "count": [206]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5688584198979861]], [[0.5367036274449385]], [[0.5024140699827033]]], "std": [[[0.23264347757258544]], [[0.23754885284934565]], [[0.24583960779449732]]], "count": [206]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1221]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1221]}, "observation.state": {"min": [1.1522588101526137, -3.7418766400868537, 0.6999970403232316, 0.0, 0.0, -1.0, 1.0803861982822127e-07, -0.08508426086264231, -0.09941567179336408, 0.22868928409702738, -0.9865347743034363, -0.4984407424926758, -0.6490151882171631, 0.0004304616304580122, 0.006901626259727926, -0.0408126319009978], "max": [4.156787524419338, -0.4669550665713474, 0.7027526443364843, 0.0, 0.0, 1.0, 0.9999738931655884, 0.5662659384220916, 0.033211818415008754, 0.8331901842679115, 0.964245080947876, 0.5037005543708801, 0.5288440585136414, 0.12552273273468018, 0.04012810483878367, -0.00804869981305864], "mean": [2.5946212417951373, -1.9487414788189732, 0.701581905810751, 0.0, 0.0, 0.2979282357777262, 0.3453184468462996, 0.11763139371236711, -0.04434208564411561, 0.6505127694475678, 0.30068073557791997, 0.053008272340803436, 0.08570808409366155, 0.038044207193540715, 0.025751134189607863, -0.026129912466980355], "std": [1.1250124059059545, 1.2782759893731, 0.0007820308014174941, 0.0, 0.0, 0.818585765099912, 0.3491579907294526, 0.2085508081195755, 0.03212573874940928, 0.16166594888735242, 0.8456763404814234, 0.1802892357395208, 0.38692892292821407, 0.024521582669773705, 0.01252446462374865, 0.012276755270850814], "count": [1221]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.8785714285714286, -0.8142857142857143, -0.17714285714285713, -0.6571428571428571, -0.4, -1.0], "max": [1.0, 1.0, 0.44285714285714284, 0.0, 1.0, 1.0, 0.37142857142857144, 1.0, 0.1457142857142857, 0.31142857142857144, 0.32571428571428573, 1.0], "mean": [0.29196794196794196, 0.017994617994617924, -0.10806832806832807, 0.0, -0.022113022113022112, -0.0025155025155025167, -0.003632853632853628, 0.009032409032408999, 0.0008470808470808473, -0.007499707499707505, -4.6800046800043156e-05, 0.10401310401310401], "std": [0.4772396192931565, 0.4382069207099046, 0.24849831482350207, 0.0, 0.9997554772308141, 0.4141643879115321, 0.0646274084388713, 0.32310306746780326, 0.02720994767139722, 0.09589575908813389, 0.07094275750654672, 0.9945759268118016], "count": [1221]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013104013167321682], "std": [0.11372026056051254], "count": [1221]}, "next.done": {"min": [false], "max": [true], "mean": [0.000819000819000819], "std": [0.028606468790455336], "count": [1221]}, "timestamp": {"min": [0.0], "max": [61.0], "mean": [30.5], "std": [17.623611056383044], "count": [1221]}, "frame_index": {"min": [0], "max": [1220], "mean": [610.0], "std": [352.4722211276609], "count": [1221]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [1221]}, "index": {"min": [82843], "max": [84063], "mean": [83453.0], "std": [352.4722211276609], "count": [1221]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1221]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5294186384318261]], [[0.48561861220188585]], [[0.4504833922196563]]], "std": [[[0.2219422868084149]], [[0.25139373617923033]], [[0.27102745036612663]]], "count": [179]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4785414631492873]], [[0.4067936825718307]], [[0.3729024157700135]]], "std": [[[0.2219994309119402]], [[0.26372926104565453]], [[0.2857020175070355]]], "count": [179]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5132176207326069]], [[0.4612566338375216]], [[0.43338180142512445]]], "std": [[[0.2244255640119675]], [[0.26102448581429155]], [[0.2822688876501567]]], "count": [179]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1015]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1015]}, "observation.state": {"min": [2.5267757205437658, -4.482383732175635, 0.6999971912492964, 0.0, 0.0, -0.9999228715896606, 0.012423149310052395, -0.03332943624123397, -0.1576080722682085, 0.22952571422863, -0.9996801614761353, -0.16724026203155518, -0.5888476967811584, 0.00012346857693046331, 0.004826106061216069, -0.04032907579995309], "max": [4.694982673353232, -3.86888176684269, 0.7030591867134571, 0.0, 0.0, 0.9997844099998474, 1.0, 0.7013886675486267, 0.040829719618074245, 0.799329103400353, 0.9965595006942749, 0.16157498955726624, 0.6800013780593872, 0.08444780856370926, 0.0400820497169602, -0.008765497375776487], "mean": [3.5479396025496817, -4.094149651571832, 0.7010494277398259, 0.0, 0.0, 0.2866555408054499, 0.8217534933413558, 0.26026402799569587, -0.03292407879222584, 0.5789108722673182, -0.49389169110453185, -0.004586874867968371, -0.16736166251850834, 0.029275086859907505, 0.026372549883722892, -0.027720686677055843], "std": [0.9046095248134374, 0.17382739884208626, 0.0010964085602962967, 0.0, 0.0, 0.4546825695252656, 0.18924468690305538, 0.2566644027592418, 0.057095923513760645, 0.17719977495713118, 0.7762544743858354, 0.0907953748206478, 0.3403855435777856, 0.02249163439999675, 0.012398864026947044, 0.011937649485155875], "count": [1015]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.45714285714285713, -0.807142857142857, -0.12, -0.4542857142857143, -0.23428571428571432, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.46428571428571436, 1.0, 0.16857142857142857, 0.30857142857142855, 0.18857142857142858, 1.0], "mean": [0.08501759324419421, 0.02939479239971852, 0.06593103448275862, 0.0, -0.3438423645320197, 0.0110978184377199, -0.008508092892329344, -0.0006403940886699372, 0.000889514426460239, -0.004171710063335679, -0.0028655876143560913, 0.12118226600985221], "std": [0.4023782810762189, 0.20807411734297368, 0.3296881815341523, 0.0, 0.939027384240217, 0.5122502934179048, 0.10233940976105108, 0.37507003745145207, 0.018532817482829953, 0.07726615288302001, 0.04607309844350641, 0.9926302727625822], "count": [1015]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015763547271490097], "std": [0.12455945461988449], "count": [1015]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009852216748768472], "std": [0.03137277503072051], "count": [1015]}, "timestamp": {"min": [0.0], "max": [50.7], "mean": [25.35], "std": [14.650255970460039], "count": [1015]}, "frame_index": {"min": [0], "max": [1014], "mean": [507.0], "std": [293.00511940920074], "count": [1015]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1015]}, "index": {"min": [84064], "max": [85078], "mean": [84571.0], "std": [293.00511940920074], "count": [1015]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1015]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5756656487184044]], [[0.5765596109554408]], [[0.5621191616716056]]], "std": [[[0.2422996568086824]], [[0.2148370963217644]], [[0.22582664190547563]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5533937165164422]], [[0.542530573230774]], [[0.5285969836900951]]], "std": [[[0.25334198890296694]], [[0.23835994586823242]], [[0.22762082119831326]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5732227809968276]], [[0.5616509743293195]], [[0.5472391481343346]]], "std": [[[0.24914357486304764]], [[0.23942819211958766]], [[0.23224819034286917]]], "count": [203]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1199]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1199]}, "observation.state": {"min": [1.3619225640684676, -5.158805033479343, 0.6999962440312841, 0.0, 0.0, 0.5727022886276245, 0.6735627055168152, -0.1398897162869881, -0.1398152698232924, 0.2430080759978005, -0.9997776746749878, -0.24504181742668152, -0.5432451367378235, 0.00043679645750671625, 0.011356784903338888, -0.04040910710054408], "max": [3.9910329669528717, -1.0853827708160417, 0.7024230716291981, 0.0, 0.0, 0.7391301393508911, 0.8197634220123291, 0.5801455985491284, 0.027986061032474474, 0.8325312238023613, 0.9999258518218994, 0.198619082570076, 0.46317732334136963, 0.10014689713716507, 0.04008860345751511, -0.010128511891902009], "mean": [2.262198719647861, -3.3124590204154654, 0.7007735785825157, 0.0, 0.0, 0.6852387513489998, 0.7260949189112125, 0.12437089227391578, -0.031197415275149933, 0.6157287121123576, -0.5405977312677398, -0.04815066666858856, -0.31940407737362525, 0.029505746600954477, 0.029490531627786466, -0.027962870255124304], "std": [0.8696687777707622, 1.583959054780717, 0.0007748636045877621, 0.0, 0.0, 0.04200082401891083, 0.0383400890041053, 0.21686971017969162, 0.03668246002917204, 0.17722036851446038, 0.7302958804193529, 0.06557821317761517, 0.253845535185672, 0.021815751421062183, 0.010299089707017369, 0.011388801827701817], "count": [1199]}, "action": {"min": [-1.0, -1.0, -0.6542857142857142, 0.0, -1.0, -1.0, -0.5, -0.8857142857142857, -0.07428571428571429, -0.44571428571428573, -0.15428571428571428, -1.0], "max": [1.0, 1.0, 0.4114285714285714, 0.0, 1.0, 0.9928571428571428, 0.46428571428571436, 1.0, 0.13142857142857142, 0.40857142857142864, 0.17714285714285713, 1.0], "mean": [0.13775169784344093, 0.037382342428213935, 0.0008864529965447409, 0.0, -0.12593828190158465, -0.011551292743953313, -0.007738591683545819, -0.0032050518289050245, -0.0007148814488264027, -0.0012939354223757877, 0.0005957345406886685, 0.042535446205170975], "std": [0.5719387559509845, 0.3997204715635745, 0.09392714344682088, 0.0, 0.9920380784786882, 0.4518489494869356, 0.07856348316044266, 0.33937555455473933, 0.012293865510563806, 0.08381538070511257, 0.03160235665387676, 0.9990949583578765], "count": [1199]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013344453647732735], "std": [0.11474483460187912], "count": [1199]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008340283569641367], "std": [0.028867503419310728], "count": [1199]}, "timestamp": {"min": [0.0], "max": [59.9], "mean": [29.950000000000003], "std": [17.30606829987678], "count": [1199]}, "frame_index": {"min": [0], "max": [1198], "mean": [599.0], "std": [346.12136599753563], "count": [1199]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1199]}, "index": {"min": [85079], "max": [86277], "mean": [85678.0], "std": [346.12136599753563], "count": [1199]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1199]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.460689278683802]], [[0.45249740821906004]], [[0.43498435090890086]]], "std": [[[0.2179278028210427]], [[0.1921377847558145]], [[0.19383138692009802]]], "count": [292]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4506519353489001]], [[0.4316028839857259]], [[0.4068853152364996]]], "std": [[[0.21465971184460883]], [[0.20321468874394297]], [[0.19531550486599494]]], "count": [292]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47495036877005326]], [[0.4558342205399055]], [[0.4308579552727555]]], "std": [[[0.20727648302739976]], [[0.19724195831414693]], [[0.19330058821424415]]], "count": [292]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1942]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1942]}, "observation.state": {"min": [0.40856428283274104, -7.993188371791455, 0.6999321975933372, 0.0, 0.0, -0.9999366998672485, 5.506607067218283e-06, -0.15164965075027936, -0.20121914683054332, 0.23894707318553365, -0.9961259365081787, -0.3592636287212372, -0.5031042695045471, 5.4344745876733214e-05, 0.009929024511911485, -0.0402563495865194], "max": [3.913849960276441, -1.1033703690272587, 0.7013862990831277, 0.0, 0.0, 1.0, 0.9999997615814209, 0.6308270020246376, 0.011634226618097543, 0.8372200436136077, 0.9964410662651062, 0.797038733959198, 0.38125091791152954, 0.5287696719169617, 0.040310122840562616, -0.004071555955250784], "mean": [2.345686801018981, -4.244376431438183, 0.7006920511155734, 0.0, 0.0, 0.4191869486448951, 0.5167919713101032, 0.081359734891723, -0.08587448208135075, 0.6776405557832066, -0.6131311328017012, 0.4260820023999401, -0.32096916448606244, 0.231267145426649, 0.02584580695884626, -0.02388335951033858], "std": [0.9613357545722425, 2.395461836660337, 0.00044286305951175635, 0.0, 0.0, 0.6721196251652062, 0.32475155595661565, 0.23125003150262774, 0.044476641816381, 0.16627664580667584, 0.38081919192632774, 0.2897424066913358, 0.17922982002362658, 0.15786509211966285, 0.012358593163476029, 0.013654915429245955], "count": [1942]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.7285714285714285, -0.8785714285714286, -0.2, -0.4314285714285714, -0.7171428571428572, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.9, 0.7142857142857143, 1.0, 0.2, 0.5828571428571429, 0.3142857142857143, 1.0], "mean": [0.21503236722083266, -0.044100338384581425, 0.03832131822863025, 0.0, 0.15550978372811536, 0.0021038693541268042, -0.004777843166102696, 0.0009820509048109431, 0.00132999852876269, -0.002664410769457116, -0.009184934529939676, 0.16065911431513905], "std": [0.5218462400844786, 0.5822534979353298, 0.2660614656372966, 0.0, 0.9878343520878732, 0.3395507440803137, 0.10139064649165402, 0.24372493632863795, 0.02686497280406984, 0.07619981021825278, 0.08184266449388429, 0.9870099538441708], "count": [1942]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008238929323852062], "std": [0.09039385616779327], "count": [1942]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005149330587023687], "std": [0.022686293276942007], "count": [1942]}, "timestamp": {"min": [0.0], "max": [97.05], "mean": [48.52499999999999], "std": [28.030351852946836], "count": [1942]}, "frame_index": {"min": [0], "max": [1941], "mean": [970.5], "std": [560.6070370589367], "count": [1942]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1942]}, "index": {"min": [86278], "max": [88219], "mean": [87248.5], "std": [560.6070370589367], "count": [1942]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1942]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4005744932683938]], [[0.35689937374149244]], [[0.3321996824807336]]], "std": [[[0.2373222134593856]], [[0.23264321448139522]], [[0.2394026548484157]]], "count": [214]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42060347618758737]], [[0.3728938766292148]], [[0.3401799413601688]]], "std": [[[0.229443932515543]], [[0.2130765711664251]], [[0.21547596160566684]]], "count": [214]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4222541978251307]], [[0.38405846051731146]], [[0.3586428787150356]]], "std": [[[0.23830631160615046]], [[0.22350053560271904]], [[0.2240820236176127]]], "count": [214]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1281]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1281]}, "observation.state": {"min": [0.6067370882750676, -4.683332956741587, 0.6999949264757692, 0.0, 0.0, -0.9999977350234985, 0.002128098625689745, -0.14124398076217315, -0.128304885221874, 0.234458031857122, -0.9911962151527405, -0.7088450789451599, -0.6301531791687012, 8.885598072083667e-05, 0.008146486871121229, -0.04071411245299266], "max": [4.383123866538077, -1.75066146061685, 0.7030943746561258, 0.0, 0.0, 0.9998635053634644, 1.0, 0.731794606832785, 0.1921425242917636, 0.8078719603057192, 0.9965754151344299, 0.7089815735816956, 0.560586154460907, 0.17421451210975647, 0.04006684610929155, -0.006593382577452933], "mean": [2.3885602280576212, -3.3161496531173746, 0.7016999582389732, 0.0, 0.0, -0.25463818391880405, 0.8342581451448825, 0.1398105522364057, -0.006995626734833343, 0.6026134477682263, 0.2725736521166996, 0.15411799423728112, 0.06043720246029285, 0.05825713486551539, 0.029952008194307655, -0.028077288807757107], "std": [1.4508556619415904, 1.1305278101330607, 0.0011539319989759364, 0.0, 0.0, 0.43204986439152465, 0.22914115915854036, 0.23763944323214256, 0.07586972147989791, 0.15745764471366297, 0.8348700973070364, 0.26552268575181187, 0.3524713692577402, 0.0561983641696711, 0.012191295704668946, 0.011538838234384678], "count": [1281]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.6428571428571428, -1.0, -0.12571428571428572, -0.84, -0.2542857142857143, -1.0], "max": [1.0, 1.0, 0.44285714285714284, 0.0, 1.0, 1.0, 0.9071428571428573, 1.0, 0.32, 0.5571428571428572, 0.48571428571428577, 1.0], "mean": [0.28474963755994215, -0.004589048734247771, -0.10187799710047946, 0.0, -0.04137392661982826, -0.018969555035128774, -0.00163934426229508, -0.012005129920820777, 0.004931415189026429, -0.0057566633210661385, 0.0008364001338240217, 0.08196721311475409], "std": [0.4767590687659052, 0.43492128061144664, 0.25221000652609565, 0.0, 0.9991437325010214, 0.44909906876643696, 0.12528298427107382, 0.3309157987845228, 0.037028572698313264, 0.10920987347500247, 0.0673581003783535, 0.9966350264636542], "count": [1281]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1281]}, "next.done": {"min": [false], "max": [true], "mean": [0.00078064012490242], "std": [0.0279290301639318], "count": [1281]}, "timestamp": {"min": [0.0], "max": [64.0], "mean": [32.0], "std": [18.489636737012077], "count": [1281]}, "frame_index": {"min": [0], "max": [1280], "mean": [640.0], "std": [369.79273474024154], "count": [1281]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [1281]}, "index": {"min": [88220], "max": [89500], "mean": [88860.0], "std": [369.79273474024154], "count": [1281]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1281]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5708260659912738]], [[0.5345646360128746]], [[0.5007321362826913]]], "std": [[[0.19552458038679846]], [[0.2026745986492881]], [[0.2107016882701818]]], "count": [198]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5594385882608252]], [[0.5416659591834978]], [[0.5193155528578718]]], "std": [[[0.23904441686282904]], [[0.22155218075622157]], [[0.20593750308858463]]], "count": [198]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5317882082254066]], [[0.5174277904175796]], [[0.4996284332245169]]], "std": [[[0.21882358203192467]], [[0.20407542576130844]], [[0.19364739112273918]]], "count": [198]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1160]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1160]}, "observation.state": {"min": [1.354184170100821, -4.316709301691119, 0.6999962913651988, 0.0, 0.0, 0.015803944319486618, 0.6595439314842224, -0.10284632736101151, -0.16012356390512306, 0.2360578026443605, -0.9998635649681091, -0.4016249179840088, -0.6845127940177917, 8.493592758895829e-05, 0.00964733907391624, -0.04008898637487128], "max": [3.3822968562501954, -1.0068993606781247, 0.7029578727152123, 0.0, 0.0, 0.7516661286354065, 0.9998750686645508, 0.6703508268212702, 0.14367507395318402, 1.0678048014061836, 0.998599112033844, 0.41295337677001953, 0.7356338500976562, 0.6500391364097595, 0.040085252811860796, -0.0136902037072136], "mean": [2.4363734912064925, -2.6941498227254392, 0.7014120796682356, 0.0, 0.0, 0.6364315807867539, 0.7526845607778122, 0.23355914244810458, 0.02514035779927691, 0.6020945329870556, -0.23900631196026145, -0.0019154600333422423, -0.1768883417983206, 0.07212128998227603, 0.033292280037340055, -0.030786126236319742], "std": [0.6134218289116493, 1.3624935724075535, 0.0006098355758013674, 0.0, 0.0, 0.14907703900917244, 0.07871991059411891, 0.24295472561892134, 0.058738538725007096, 0.19550637689783623, 0.8672635605891007, 0.10089601559410177, 0.36364508483710406, 0.10870838092330716, 0.009490393354416381, 0.010070441884228148], "count": [1160]}, "action": {"min": [-1.0, -1.0, -0.9571428571428573, 0.0, -1.0, -1.0, -0.807142857142857, -1.0, -0.9514285714285715, -0.9457142857142856, -0.6314285714285715, -1.0], "max": [1.0, 1.0, 0.5828571428571429, 0.0, 1.0, 1.0, 0.6571428571428571, 1.0, 1.0, 0.35428571428571426, 0.42, 1.0], "mean": [0.19021551724137925, -0.01166871921182265, -0.0007339901477832566, 0.0, -0.2120689655172414, 0.001157635467980293, -0.008103448275862055, 0.012198275862068963, 0.0025837438423645335, -0.012453201970443358, 0.0006576354679802939, -0.1103448275862069], "std": [0.4819604811048611, 0.44336412705046296, 0.16737854303985708, 0.0, 0.9772547026566022, 0.527746557598207, 0.14730797754530728, 0.4567800828392796, 0.1558089913664448, 0.14521809688729853, 0.1070245502482714, 0.9938933640109292], "count": [1160]}, "next.reward": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1160]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008620689655172414], "std": [0.029348352638877934], "count": [1160]}, "timestamp": {"min": [0.0], "max": [57.95], "mean": [28.975], "std": [16.743151585051123], "count": [1160]}, "frame_index": {"min": [0], "max": [1159], "mean": [579.5], "std": [334.8630317010225], "count": [1160]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [1160]}, "index": {"min": [89501], "max": [90660], "mean": [90080.5], "std": [334.8630317010225], "count": [1160]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1160]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5616199873207683]], [[0.5533713659740007]], [[0.5461156915170499]]], "std": [[[0.2508506357786008]], [[0.24596321193554607]], [[0.26074962647661226]]], "count": [206]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5830844335231059]], [[0.5717490096920993]], [[0.5568594127388515]]], "std": [[[0.24330478488820761]], [[0.23360675225263985]], [[0.22700386227986702]]], "count": [206]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5827888214268186]], [[0.575237624050208]], [[0.5648023305065446]]], "std": [[[0.2533593348727414]], [[0.24137782212005393]], [[0.2317502904847315]]], "count": [206]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1218]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1218]}, "observation.state": {"min": [1.20613213360745, -4.247844931204148, 0.6999971733365707, 0.0, 0.0, -0.010078463703393936, 0.6379823684692383, -0.11988485554129324, -0.05813732870406074, 0.23525809205710402, -0.9964306354522705, -0.8065558075904846, -0.5444552898406982, 0.00014365528477355838, 0.007248291868933954, -0.04057297260759632], "max": [3.0313263676571025, -0.9658226410679702, 0.7032195974872122, 0.0, 0.0, 0.7700508832931519, 1.0, 0.6180906346168824, 0.13168498593253064, 0.817408669923728, 0.988341748714447, 0.36733806133270264, 0.431242436170578, 0.1628272980451584, 0.04007499083697775, -0.008586826207974806], "mean": [2.157953975071722, -2.5985118700945433, 0.7010137376013317, 0.0, 0.0, 0.31802136725723634, 0.8775939554807979, 0.17040405710881817, 0.009819973820370535, 0.5718815138046923, -0.08162015524795294, -0.09104901670871306, -0.0400891221986322, 0.04252317313957959, 0.025469506365008394, -0.026106585700127253], "std": [0.6279772277219681, 1.2174969447414632, 0.0009046667800904291, 0.0, 0.0, 0.32993253846725556, 0.14083957548881615, 0.24631893163354088, 0.03669592559556973, 0.17143474480768017, 0.8819838029248961, 0.2802157484590995, 0.35188017049356307, 0.037375355866567886, 0.013519648477152984, 0.013349728551655036], "count": [1218]}, "action": {"min": [-1.0, -1.0, -0.9285714285714286, 0.0, -1.0, -1.0, -0.807142857142857, -0.75, -0.14, -0.32857142857142857, -0.7, -1.0], "max": [1.0, 1.0, 0.7314285714285714, 0.0, 1.0, 1.0, 0.8357142857142857, 1.0, 0.25142857142857145, 0.29714285714285715, 0.5657142857142857, 1.0], "mean": [0.09727304714989439, -0.038253577292986146, 0.02134881538822423, 0.0, -0.24958949096880131, -0.006186957541637314, 0.004756040347173352, -0.00620455078583156, 0.0015904292751583392, -0.0032512315270935926, -0.0015458597231996286, 0.027914614121510674], "std": [0.44284349725906635, 0.42931151733241985, 0.1964326389599232, 0.0, 0.9683517367144671, 0.4601278659166277, 0.12277970121639535, 0.32082181256127235, 0.038292935686816014, 0.0675318425953682, 0.12133658111105036, 0.9996103112305555], "count": [1218]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013136289082467556], "std": [0.11385837197303772], "count": [1218]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008210180623973727], "std": [0.028641647853058137], "count": [1218]}, "timestamp": {"min": [0.0], "max": [60.85], "mean": [30.425], "std": [17.580309771635616], "count": [1218]}, "frame_index": {"min": [0], "max": [1217], "mean": [608.5], "std": [351.6061954327123], "count": [1218]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [1218]}, "index": {"min": [90661], "max": [91878], "mean": [91269.5], "std": [351.6061954327123], "count": [1218]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1218]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5173176321753843]], [[0.4824651948438709]], [[0.45206168300271854]]], "std": [[[0.22392592156409644]], [[0.2178849539410375]], [[0.22869773585705883]]], "count": [209]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4331756127977787]], [[0.39777413591992755]], [[0.36574589587676054]]], "std": [[[0.24893819836294528]], [[0.23167841335150552]], [[0.23342261389220703]]], "count": [209]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4465094014754807]], [[0.4127218790266368]], [[0.38160193132206716]]], "std": [[[0.24688097303564416]], [[0.23276326737220662]], [[0.23620899696821682]]], "count": [209]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1248]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1248]}, "observation.state": {"min": [1.1817873279602356, -3.7854178706354062, 0.6999956013277201, 0.0, 0.0, -1.0, 0.0, -0.12105828366166094, -0.21121422093269282, 0.2326530467370569, -0.991330623626709, -0.4802606403827667, -0.6442430019378662, 0.00029673270182684064, 0.020556991092244188, -0.04018058970023485], "max": [4.32268759156961, -0.4687659371568804, 0.7035264766227299, 0.0, 0.0, 1.0, 0.9999909400939941, 0.5556460674968497, 0.041527264933614916, 0.8385063551058255, 0.9892873764038086, 0.4941108226776123, 0.3604818284511566, 0.25385013222694397, 0.04048121804611552, -0.02050956814915563], "mean": [2.566475417555906, -1.8331838868768688, 0.7015891280131211, 0.0, 0.0, 0.35597905488751935, 0.37622210386641225, 0.08942565434411406, -0.030246731600602192, 0.6416408834553053, -0.24499181041923854, 0.08366012500407986, -0.21728884095715237, 0.06619104515336333, 0.038273148705894856, -0.03170209775517818], "std": [1.1465630158671374, 1.2517772114993915, 0.001018676707332945, 0.0, 0.0, 0.7813435775593068, 0.34819258663747366, 0.21570518460754684, 0.05593601841962705, 0.18034531836108314, 0.8459295271657228, 0.18602498935604925, 0.3518650723777371, 0.08586741249876437, 0.002538867457410734, 0.00692147674812382], "count": [1248]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.4857142857142857, -1.0, -0.2057142857142857, -0.6885714285714286, -0.4257142857142857, -1.0], "max": [1.0, 1.0, 0.44571428571428573, 0.0, 1.0, 1.0, 0.45714285714285713, 1.0, 0.28285714285714286, 0.6057142857142859, 0.22, 1.0], "mean": [0.29430517399267414, 0.028840430402930436, -0.10781135531135523, 0.0, -0.041666666666666664, -0.013169642857142842, -0.0023809523809523747, -0.013541666666666648, -0.0010370879120879123, -0.0017078754578754597, -0.005139652014652016, 0.11057692307692307], "std": [0.4929258903326112, 0.44627530473292853, 0.24731823902000424, 0.0, 0.9991315673568218, 0.4291828538425012, 0.09440527001235118, 0.3526313293307692, 0.03623760995709439, 0.11707007906633456, 0.05522849392542696, 0.9938675686845022], "count": [1248]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012820512987673283], "std": [0.11249953508377075], "count": [1248]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008012820512820513], "std": [0.028295582665079446], "count": [1248]}, "timestamp": {"min": [0.0], "max": [62.35], "mean": [31.175], "std": [18.013322615960295], "count": [1248]}, "frame_index": {"min": [0], "max": [1247], "mean": [623.5], "std": [360.26645231920594], "count": [1248]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1248]}, "index": {"min": [91879], "max": [93126], "mean": [92502.5], "std": [360.26645231920594], "count": [1248]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1248]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5736092800564235]], [[0.5461405577150565]], [[0.5118245349626396]]], "std": [[[0.21044131244472375]], [[0.22480535384104916]], [[0.2463511301306859]]], "count": [225]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5510086438546773]], [[0.5180343190444581]], [[0.49475574820857166]]], "std": [[[0.2246434925318178]], [[0.2339903495682113]], [[0.24014073821955176]]], "count": [225]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5480590897437534]], [[0.5157072347005208]], [[0.4940004047734545]]], "std": [[[0.21646707306947519]], [[0.2268240275434932]], [[0.23346791847242085]]], "count": [225]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1376]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1376]}, "observation.state": {"min": [-0.1980966781615279, -6.189058450229148, 0.6999974393971897, 0.0, 0.0, -0.9999425411224365, 0.009238027967512608, -0.004045718681437549, -0.3149505665812864, 0.2304895446116091, -0.9902383089065552, -0.6035909056663513, -0.5073174238204956, 0.0002772278676275164, 0.001982383152699791, -0.04087141717198783], "max": [3.58669911161216, -1.5392214063390175, 0.7025189086319023, 0.0, 0.0, 0.9999573230743408, 1.0, 0.5887526836099909, 0.007261845850639492, 0.7639588605482471, 0.9672417044639587, 0.5021421909332275, 0.4416249096393585, 0.2951713800430298, 0.04054269163805793, -0.012608247083496222], "mean": [1.7249737744035194, -3.8615596592246306, 0.7016661158000005, 0.0, 0.0, -0.03283111578126451, 0.9294642777044088, 0.17597745125054284, -0.11788455897285816, 0.5622664513106987, 0.05775946110140446, 0.09132636124051588, 0.0680316859366559, 0.0925885648441054, 0.026361562820667168, -0.026247519177367756], "std": [1.440024681897429, 1.1578535720587344, 0.0006890779902044722, 0.0, 0.0, 0.31957599950570836, 0.18135453102811652, 0.18044029654163177, 0.0662830730541269, 0.1375229443028483, 0.8708494386581795, 0.30109890306358916, 0.34600300645516346, 0.07978107101806674, 0.011928192980837828, 0.012344993975781315], "count": [1376]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.9857142857142858, -0.7214285714285715, -0.15428571428571428, -0.36857142857142855, -0.6485714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.8285714285714285, 1.0, 0.2257142857142857, 0.4314285714285714, 0.2742857142857143, 1.0], "mean": [0.2948608803986711, -0.10997196843853821, 0.08075996677740868, 0.0, 0.11627906976744186, -0.004594061461794006, 0.004376038205980068, -0.007916320598006659, 0.001980897009966776, -0.002304817275747512, -0.004900332225913618, 0.08284883720930232], "std": [0.5159000321069394, 0.5045335794148705, 0.26365407423470294, 0.0, 0.9932165815843119, 0.38930846822811666, 0.15864304626953168, 0.27004401205846956, 0.03278416879155177, 0.07517060877048787, 0.08649335610382501, 0.996562125596323], "count": [1376]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011627906933426857], "std": [0.10720400512218475], "count": [1376]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007267441860465116], "std": [0.026948395665318543], "count": [1376]}, "timestamp": {"min": [0.0], "max": [68.75], "mean": [34.375], "std": [19.860844015298042], "count": [1376]}, "frame_index": {"min": [0], "max": [1375], "mean": [687.5], "std": [397.21688030596084], "count": [1376]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1376]}, "index": {"min": [93127], "max": [94502], "mean": [93814.5], "std": [397.21688030596084], "count": [1376]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1376]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5291935179520249]], [[0.4919136715911648]], [[0.4654794733039873]]], "std": [[[0.22793536014656984]], [[0.2196761574947675]], [[0.22415153016292877]]], "count": [226]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5432716550997473]], [[0.5049693197461852]], [[0.46889485788287416]]], "std": [[[0.22697647685147979]], [[0.23800638915944503]], [[0.25154026061057416]]], "count": [226]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5934423591948707]], [[0.5557524811325854]], [[0.5186989912158516]]], "std": [[[0.2431167195767674]], [[0.25449402173131097]], [[0.2680521803100065]]], "count": [226]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1378]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1378]}, "observation.state": {"min": [0.905342941745378, -3.5225544220717024, 0.6999962325497534, 0.0, 0.0, -0.6035995483398438, 0.7972875833511353, -0.10105799565591411, -0.12442615830400139, 0.24530773408718132, -0.9988446831703186, -0.1983119249343872, -0.4776981770992279, 0.0003273272013757378, 0.012486715702451695, -0.04042891861615739], "max": [3.6473743898190842, -1.5024695227829956, 0.7016263073843646, 0.0, 0.0, 0.11719067394733429, 1.0, 0.6622367405384408, 0.2263251778173852, 0.8291311494433138, 0.8852427005767822, 0.6709015369415283, 0.5410864353179932, 0.42030981183052063, 0.04049909729185005, -0.010003373162960325], "mean": [2.5235561544155023, -2.838742153779254, 0.7008330204381622, 0.0, 0.0, -0.18232390160537917, 0.967987758154793, 0.14643158788618724, 0.007840774400706392, 0.6047038333276886, -0.7875664475953804, 0.21547214271898107, -0.24223045985189406, 0.13094395683062954, 0.03206696193052887, -0.029999309787359714], "std": [1.0820543289052074, 0.6444410148374144, 0.0005447573750602391, 0.0, 0.0, 0.16594409087665274, 0.04711959228888153, 0.2552849403148661, 0.0625748923486788, 0.1623798355802935, 0.3301789767045005, 0.2878894932215689, 0.21294769624514934, 0.142280321139933, 0.010419460065326994, 0.011171991244642748], "count": [1378]}, "action": {"min": [-1.0, -1.0, -0.7085714285714285, 0.0, -1.0, -1.0, -0.7142857142857143, -0.8357142857142857, -0.10857142857142858, -0.4657142857142857, -0.37142857142857144, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5714285714285715, 1.0, 0.2914285714285714, 0.5942857142857143, 0.24571428571428575, 1.0], "mean": [0.12126788306033594, -0.02333609786439971, -0.010818992328426308, 0.0, -0.10885341074020319, 0.0007360563964337588, 0.008366162139747044, 0.011253369272237215, 0.004285714285714285, -0.0029317851959361385, -0.008973667841592365, 0.14513788098693758], "std": [0.46508751889615413, 0.5022779086499546, 0.17134034764717176, 0.0, 0.9940578126900957, 0.4356731288195972, 0.1287946408879212, 0.3067263672309709, 0.029125714040828223, 0.07981974670555672, 0.05787764605253806, 0.9894114389386435], "count": [1378]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01161103043705225], "std": [0.10712709277868271], "count": [1378]}, "next.done": {"min": [false], "max": [true], "mean": [0.000725689404934688], "std": [0.0269288466114361], "count": [1378]}, "timestamp": {"min": [0.0], "max": [68.85], "mean": [34.425000000000004], "std": [19.889711536369756], "count": [1378]}, "frame_index": {"min": [0], "max": [1377], "mean": [688.5], "std": [397.794230727395], "count": [1378]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1378]}, "index": {"min": [94503], "max": [95880], "mean": [95191.5], "std": [397.794230727395], "count": [1378]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1378]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5874786170730429]], [[0.5215933488191026]], [[0.45361379139761704]]], "std": [[[0.22717191222230637]], [[0.2867459477218304]], [[0.2529392084049687]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4726673410622083]], [[0.4385327233631138]], [[0.4052914407412528]]], "std": [[[0.21232817887021854]], [[0.2099177914021351]], [[0.21831558713560875]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49464934562361096]], [[0.46644009283456056]], [[0.4378008413858901]]], "std": [[[0.22394699800872955]], [[0.22498942386273144]], [[0.23240703117011957]]], "count": [177]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [998]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [998]}, "observation.state": {"min": [1.3812556089490302, -4.234099293944734, 0.6999976618158142, 0.0, 0.0, 0.19585543870925903, 0.7026634812355042, -0.08743653312190736, -0.16722911705301557, 0.234543839450701, -0.9981770515441895, -0.17432981729507446, -0.4106752872467041, 4.183613782515749e-05, 0.020539839194852305, -0.04052084869090755], "max": [3.3379458782754323, -0.992758331713345, 0.7036205497068555, 0.0, 0.0, 0.7115222811698914, 0.9806327223777771, 0.6164361215025772, 0.02066787825932881, 0.7409912926527643, 0.9978277087211609, 0.10548371076583862, 0.40648818016052246, 0.07903660833835602, 0.04046822814097807, -0.020526721442280384], "mean": [2.3495871213215267, -2.7570789896619505, 0.7017456732853073, 0.0, 0.0, 0.6278461212505081, 0.7695054035626336, 0.1816674125349608, -0.0478351240012174, 0.5657011702906238, -0.29427311594835026, -0.026911410288455968, -0.048846850260688114, 0.019683367087233266, 0.03672937870092572, -0.035638969359670064], "std": [0.59528226557166, 1.3122051985514747, 0.0010971458807796178, 0.0, 0.0, 0.09959929985376424, 0.06124256044813515, 0.22705087628174822, 0.04951340418221272, 0.15242222068667297, 0.9138940293137214, 0.061359291282379505, 0.26568252729587255, 0.01874018450778082, 0.004671398934894411, 0.0042051832296471385], "count": [998]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.8428571428571429, -0.95, -0.16, -0.5857142857142857, -0.1742857142857143, -1.0], "max": [1.0, 1.0, 0.5457142857142857, 0.0, 1.0, 1.0, 0.9071428571428573, 1.0, 0.19142857142857142, 0.3314285714285714, 0.16, 1.0], "mean": [0.16364156885198966, -0.04380188949327228, -0.0045032922988834856, 0.0, -0.10821643286573146, 0.012360435156026306, -0.0002719725164614933, -0.0073862009733753125, 0.0016661895219009445, 0.0007901517320354991, 0.0008846263956484398, 0.04408817635270541], "std": [0.5308180624421973, 0.473616653748895, 0.14781977804445476, 0.0, 0.994127357866093, 0.5250248788091569, 0.1664347659690346, 0.35119938877890006, 0.025855861999265605, 0.07951910960660627, 0.031477375070778024, 0.9990276436144792], "count": [998]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016032064333558083], "std": [0.1255987137556076], "count": [998]}, "next.done": {"min": [false], "max": [true], "mean": [0.001002004008016032], "std": [0.03163858397564518], "count": [998]}, "timestamp": {"min": [0.0], "max": [49.85], "mean": [24.925], "std": [14.4048819849383], "count": [998]}, "frame_index": {"min": [0], "max": [997], "mean": [498.5], "std": [288.097639698766], "count": [998]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [998]}, "index": {"min": [95881], "max": [96878], "mean": [96379.5], "std": [288.097639698766], "count": [998]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [998]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5279828564014309]], [[0.41334877180377905]], [[0.3686009680610164]]], "std": [[[0.1944373111689312]], [[0.19874857104510288]], [[0.21261625157094557]]], "count": [216]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4927773145289203]], [[0.4612791328734908]], [[0.4418382421644511]]], "std": [[[0.1954028127928407]], [[0.20494319136800843]], [[0.21716173409306844]]], "count": [216]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5243893985568222]], [[0.4926494160681941]], [[0.47310521687470924]]], "std": [[[0.22602470174842804]], [[0.2383829259825186]], [[0.25139975862840164]]], "count": [216]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1304]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1304]}, "observation.state": {"min": [3.293318827832165, -5.1766189640521665, 0.6999948004161296, 0.0, 0.0, -0.999964714050293, 0.0084071708843112, -0.13527072528458461, -0.09146979856059234, 0.23145023792956776, -0.9994387626647949, -0.08864851295948029, -0.33603259921073914, 0.0001482146471971646, 0.017387421530953205, -0.040187733150606614], "max": [6.3147978834400424, -1.8926273961031994, 0.7031054171844136, 0.0, 0.0, 0.9999102354049683, 0.9999995231628418, 0.534065092856987, 0.0003948668322641957, 0.7038286430737185, 0.9849832653999329, 0.08736546337604523, 0.2476690113544464, 0.05875428393483162, 0.040861796539648006, -0.020506226431848303], "mean": [5.178340838755314, -3.318162141888446, 0.7008229157801564, 0.0, 0.0, 0.24929961028458492, 0.8150090547407081, 0.1072533784876744, -0.05231029941593451, 0.5802481690633341, -0.6323841531858122, -0.02845879273340563, -0.0746008891294381, 0.022874443273260804, 0.0299196838671457, -0.03429518336175113], "std": [1.1128229087861192, 0.996728667891053, 0.0010581544480190435, 0.0, 0.0, 0.49063895246244443, 0.18133767130746947, 0.20191064428186, 0.016017880399618965, 0.15250019150286645, 0.7522430542287608, 0.030672831199927673, 0.16136999661658027, 0.01846988609021576, 0.008912835574666723, 0.005878188539414339], "count": [1304]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.4285714285714286, -0.8500000000000001, -0.05714285714285715, -0.4285714285714286, -0.15714285714285714, -1.0], "max": [1.0, 1.0, 0.5942857142857143, 0.0, 1.0, 1.0, 0.6642857142857144, 1.0, 0.11142857142857143, 0.22, 0.19142857142857142, 1.0], "mean": [0.33166082383873813, 0.022874671340929013, -0.11220858895705522, 0.0, 0.02147239263803681, 0.00268404907975463, 0.004310911481156884, -0.009153155127081506, 0.001400087642418931, 0.0011546888694127975, 5.696757230499562e-05, 0.22085889570552147], "std": [0.4730267500566499, 0.34912373944577435, 0.27479451341198274, 0.0, 0.9997694415986049, 0.3981849251207862, 0.08563254386655696, 0.2931248716690721, 0.01035003697087297, 0.05454146692298154, 0.022543793419245627, 0.9753057716366296], "count": [1304]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012269938364624977], "std": [0.11008808761835098], "count": [1304]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007668711656441718], "std": [0.02768181847819025], "count": [1304]}, "timestamp": {"min": [0.0], "max": [65.15], "mean": [32.575], "std": [18.82161324116506], "count": [1304]}, "frame_index": {"min": [0], "max": [1303], "mean": [651.5], "std": [376.43226482330124], "count": [1304]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1304]}, "index": {"min": [96879], "max": [98182], "mean": [97530.5], "std": [376.43226482330124], "count": [1304]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1304]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5107044875638899]], [[0.5075325465373364]], [[0.4798085127784441]]], "std": [[[0.20906315226981095]], [[0.1721733334142687]], [[0.19597075354243584]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5833044973598719]], [[0.543341789227362]], [[0.4843425518311364]]], "std": [[[0.22028455072479164]], [[0.1869212999385821]], [[0.1753921138838252]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5347517605913364]], [[0.5038321957617842]], [[0.4591035517615487]]], "std": [[[0.22004165601488831]], [[0.19199405437393569]], [[0.1858947780925407]]], "count": [205]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1210]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1210]}, "observation.state": {"min": [-3.3287190297926657, -6.043814239585792, 0.6999978487416411, 0.0, 0.0, -0.9999896287918091, 0.0045646303333342075, -0.0933297738071297, -0.18553999128473597, 0.24365139677559455, -0.998848557472229, -0.1391618847846985, -0.7508914470672607, 1.4734181377207278e-06, 0.008889421921876852, -0.0404743495069497], "max": [-1.0345756998976479, -3.720814115635057, 0.7034526958367127, 0.0, 0.0, 0.9999599456787109, 0.999998927116394, 0.6479487071912173, 0.2748466803584537, 0.8180904173928942, 0.9994457364082336, 0.08690482378005981, 0.5365179181098938, 0.1059064120054245, 0.04011540430166991, -0.012367524706646274], "mean": [-1.9016416142317132, -4.570113455452334, 0.7014251144007585, 0.0, 0.0, 0.3836543828561663, 0.8137209889121076, 0.1707218171536363, -0.04732260431607508, 0.6183871817772326, -0.3514898810504882, -0.021518699581588595, -0.10826321317009005, 0.020500337579172793, 0.030712011591215747, -0.02890497288540406], "std": [0.9460987606945244, 0.7836448914005016, 0.0010593543612247363, 0.0, 0.0, 0.3917031007121347, 0.19296667960571126, 0.2425914518069764, 0.10601558271421696, 0.16849324804633867, 0.8705856939755748, 0.053726720831350494, 0.3204470652157607, 0.018928491831577493, 0.010953970226193162, 0.009914984548968395], "count": [1210]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2, -0.37142857142857144, -0.26285714285714284, -1.0], "max": [1.0, 1.0, 0.12285714285714287, 0.0, 1.0, 1.0, 0.7714285714285714, 1.0, 0.13142857142857142, 0.3628571428571429, 0.15714285714285714, 1.0], "mean": [0.20744982290436836, -0.01786894923258562, -0.11264698937426203, 0.0, -0.2462809917355372, 0.009817001180637492, -0.0036186540731995304, 0.007809917355371891, 0.0021558441558441567, -0.004226682408500589, -0.00030224321133411823, 0.17355371900826447], "std": [0.4124129067908675, 0.3544261785412325, 0.22605545560338655, 0.0, 0.9691984694115952, 0.443204219298995, 0.1715478784840823, 0.3502866358214267, 0.020649938732130772, 0.06960127792038272, 0.030644338078345865, 0.9848244039514806], "count": [1210]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013223140500485897], "std": [0.11422910541296005], "count": [1210]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008264462809917355], "std": [0.028736096943328446], "count": [1210]}, "timestamp": {"min": [0.0], "max": [60.45], "mean": [30.225], "std": [17.464839678622873], "count": [1210]}, "frame_index": {"min": [0], "max": [1209], "mean": [604.5], "std": [349.29679357245755], "count": [1210]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1210]}, "index": {"min": [98183], "max": [99392], "mean": [98787.5], "std": [349.29679357245755], "count": [1210]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1210]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5765367199452432]], [[0.5206902456444361]], [[0.4872978232364552]]], "std": [[[0.23936749767354473]], [[0.24060530353548085]], [[0.24136512187222098]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5277121574256071]], [[0.46347637307529255]], [[0.4307611474267877]]], "std": [[[0.21321774018310988]], [[0.21067190915986603]], [[0.20974331976145275]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5087786555751754]], [[0.4611983587846962]], [[0.43418821046842804]]], "std": [[[0.21388110394379742]], [[0.205789698463439]], [[0.2028593146135036]]], "count": [157]}, "annotation.human.task_description": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [848]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [848]}, "observation.state": {"min": [1.0040674299067185, -3.8656401463714385, 0.69999773601334, 0.0, 0.0, 0.04321727156639099, 0.005428139120340347, 0.02464717957278717, -0.1279859036621409, 0.23176183967024522, -0.9920847415924072, -0.09461639076471329, -0.5160173177719116, 9.488125215284526e-05, 0.01702915562654817, -0.04023860691844567], "max": [2.9823774681977677, -2.8024210851419307, 0.701093150137868, 0.0, 0.0, 0.9999853372573853, 0.9990656971931458, 0.701613106421477, 0.1968085200859515, 0.7485560738051272, 0.9999282956123352, 0.6599990725517273, 0.5312519669532776, 0.16013629734516144, 0.040064312814275346, -0.017724114564651942], "mean": [1.643192769641283, -3.155801364225984, 0.7003685641003675, 0.0, 0.0, 0.6996791669879249, 0.4583676261168395, 0.2944812625574847, 0.027478194212660224, 0.5477304522026349, 0.27151609043467717, 0.22688177314846125, 0.005237494960416577, 0.04544510201175965, 0.034295098884129065, -0.029891101297298626], "std": [0.7299566723299947, 0.32833364075972055, 0.00024551259367866946, 0.0, 0.0, 0.36764571553397135, 0.4064293469088261, 0.2032411138287891, 0.07414560721250141, 0.14992706493391209, 0.8598248640108419, 0.27720531219011385, 0.23552622905297033, 0.03311794983017049, 0.007437846253510686, 0.00983338376877887], "count": [848]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.8285714285714285, -0.6285714285714287, -0.1657142857142857, -0.46857142857142864, -0.34285714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6071428571428572, 1.0, 0.21142857142857144, 0.38857142857142857, 0.37142857142857144, 1.0], "mean": [0.08145215633423183, -0.01506907008086252, 0.031519541778975764, 0.0, -0.32547169811320753, 0.0009349730458221135, -0.0020973719676549837, 0.0013308625336927301, 0.0012803234501347724, 0.0018227762803234477, 0.008369272237196763, -0.02358490566037736], "std": [0.33334186306624936, 0.28075342834617434, 0.3308131971267845, 0.0, 0.9455517826789284, 0.5232768073068917, 0.15437674466774587, 0.35548846614149554, 0.035633293200867264, 0.0975656654811471, 0.06732024473760026, 0.9997218374252889], "count": [848]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01886792480945587], "std": [0.13605853915214539], "count": [848]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011792452830188679], "std": [0.034319887289752944], "count": [848]}, "timestamp": {"min": [0.0], "max": [42.35], "mean": [21.175], "std": [12.239817196347337], "count": [848]}, "frame_index": {"min": [0], "max": [847], "mean": [423.5], "std": [244.79634392694675], "count": [848]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [848]}, "index": {"min": [99393], "max": [100240], "mean": [99816.5], "std": [244.79634392694675], "count": [848]}, "task_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [848]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5708890288890374]], [[0.5208928861886339]], [[0.4904058718213848]]], "std": [[[0.20508034274711237]], [[0.2310591080405087]], [[0.24262434979060923]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5558919257824988]], [[0.5032870745516596]], [[0.4700861004815585]]], "std": [[[0.17342459501391025]], [[0.19327581310185732]], [[0.2122825508114189]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5634433118685229]], [[0.5115650677823248]], [[0.4785093757909074]]], "std": [[[0.19578455854417703]], [[0.215549112409019]], [[0.23279995059629902]]], "count": [184]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1047]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1047]}, "observation.state": {"min": [1.0298234623860691, -3.8525139620987945, 0.6999941873343664, 0.0, 0.0, -0.9999997615814209, 0.0006994085852056742, -0.1065982990294918, -0.11798796266872502, 0.22763691280273735, -0.9908148050308228, -0.45747828483581543, -0.4912014305591583, 3.318934977869503e-05, 0.005906256670242676, -0.040201431244491444], "max": [3.8403991993441657, -2.6637921177396655, 0.7040465413279253, 0.0, 0.0, 0.9999990463256836, 0.9110246896743774, 0.6044027754538334, 0.09729297415730587, 0.7818603505604443, 0.9909641742706299, 0.16450339555740356, 0.42445412278175354, 0.14978158473968506, 0.0402223206943559, -0.007253265259479939], "mean": [2.0719350293953442, -3.2648116043481292, 0.7016756248798389, 0.0, 0.0, 0.44167687965213626, 0.3414203751610535, 0.1742059935848503, -0.019427323065480024, 0.5709004308866873, -0.45091907576139245, -0.05690868967412878, -0.1215363401449022, 0.03181932582793961, 0.029218009145645665, -0.026714599393638336], "std": [1.0250442825217543, 0.32816921521102704, 0.0015117497602291938, 0.0, 0.0, 0.7498211282741194, 0.3551365175080853, 0.22744547632351683, 0.05504497909140387, 0.15131108004095412, 0.8148173670887098, 0.1442148248422402, 0.30352366429485506, 0.028248240755745085, 0.01211684023777895, 0.012872242443721697], "count": [1047]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.7071428571428572, -0.9071428571428573, -0.17142857142857143, -0.33714285714285713, -0.3514285714285714, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9285714285714287, 1.0, 0.2, 0.35714285714285715, 0.18285714285714286, 1.0], "mean": [0.13303315595579207, -0.08592577432118974, 0.015289944057852358, 0.0, -0.23782234957020057, -0.020391595033428838, 0.0032814845135762036, -0.02315459134943375, 0.002213125938054305, -0.0039705280392959485, 0.000862327739118571, 0.03533906399235912], "std": [0.4177170444224811, 0.33722636125168215, 0.25408209556271644, 0.0, 0.9713086687788424, 0.5200886181113367, 0.11189598518246271, 0.330076127145308, 0.02799400196427314, 0.07978300339490589, 0.06406343381863687, 0.9993753802031324], "count": [1047]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015281757339835167], "std": [0.1226712167263031], "count": [1047]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009551098376313276], "std": [0.030890089071243992], "count": [1047]}, "timestamp": {"min": [0.0], "max": [52.3], "mean": [26.15], "std": [15.112136403125358], "count": [1047]}, "frame_index": {"min": [0], "max": [1046], "mean": [523.0], "std": [302.2427280625072], "count": [1047]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [1047]}, "index": {"min": [100241], "max": [101287], "mean": [100764.0], "std": [302.2427280625072], "count": [1047]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1047]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5675441940765356]], [[0.5118589917479078]], [[0.48161966775517295]]], "std": [[[0.25101794908861796]], [[0.2701187176570766]], [[0.27765327049363536]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5372836174828254]], [[0.49467695264015565]], [[0.4648125846841057]]], "std": [[[0.2536389277223725]], [[0.25163569296113925]], [[0.25636214771256366]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5355972057334218]], [[0.48776565073562145]], [[0.45500823708660987]]], "std": [[[0.25139226486792277]], [[0.24933795035522519]], [[0.2544474163605202]]], "count": [234]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1446]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1446]}, "observation.state": {"min": [1.0404022685036696, -4.495255946750703, 0.6999956500849863, 0.0, 0.0, -0.9999914169311523, 0.004141977056860924, -0.1111616936958244, -0.029768606846822587, 0.23189159867846387, -0.9962296485900879, -0.19602730870246887, -0.6411660313606262, 2.220185888290871e-05, 0.020562721760944494, -0.04004553168918207], "max": [5.645639202521834, -1.4128118578684195, 0.7039838943326814, 0.0, 0.0, 0.9999572038650513, 1.0, 0.585894727895087, 0.40500067630224335, 0.8368872117504479, 0.9814836382865906, 0.19275909662246704, 0.4363012909889221, 0.0966944620013237, 0.04143081987831077, -0.016222360523533697], "mean": [3.6140568985691233, -2.86060185573723, 0.7012866691717461, 0.0, 0.0, 0.3123422214690992, 0.8231947754250831, 0.13227306921329765, 0.05597061388890844, 0.6255287781333129, -0.7941928463028345, 0.019537617747425868, -0.32077407172092054, 0.04419964736989213, 0.03471320927888006, -0.032217409300620455], "std": [1.7412043202362546, 0.9796886314907652, 0.0015519781687760267, 0.0, 0.0, 0.4303250724692224, 0.19903022843912013, 0.23822627136699426, 0.11945493431244539, 0.17032153460985305, 0.4564501784314965, 0.06507271532775484, 0.2252424613789102, 0.02666464126951803, 0.006305929357156689, 0.008085381506624694], "count": [1446]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.1142857142857143, -0.5685714285714286, -0.22285714285714286, -1.0], "max": [1.0, 1.0, 0.44285714285714284, 0.0, 1.0, 1.0, 1.0, 1.0, 0.20857142857142857, 0.29428571428571426, 0.20285714285714287, 1.0], "mean": [0.32093459790555234, 0.06748666271487852, -0.09752815649081199, 0.0, -0.0013831258644536654, 0.0026427583481525253, 0.005320094842916423, 0.005700454455641175, 0.0010472238688006314, -0.0036633076467101357, -0.0021300138312586453, 0.04564315352697095], "std": [0.5200399114058735, 0.4703356833985647, 0.24622249203913713, 0.0, 0.9999990434809622, 0.4306046193546282, 0.20503778429618805, 0.3190479711645493, 0.023866725198988845, 0.07103081824007092, 0.037172509995602704, 0.9989578081861624], "count": [1446]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01106500718742609], "std": [0.1046067401766777], "count": [1446]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006915629322268327], "std": [0.026288489362030723], "count": [1446]}, "timestamp": {"min": [0.0], "max": [72.25], "mean": [36.125], "std": [20.87120724027881], "count": [1446]}, "frame_index": {"min": [0], "max": [1445], "mean": [722.5], "std": [417.4241448055762], "count": [1446]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [1446]}, "index": {"min": [101288], "max": [102733], "mean": [102010.5], "std": [417.4241448055762], "count": [1446]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1446]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5332288275139808]], [[0.4945335816426138]], [[0.4658886936530916]]], "std": [[[0.22301237313262445]], [[0.2514048643723016]], [[0.27470517815194834]]], "count": [233]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47952603394160775]], [[0.4167869921636674]], [[0.3867870119899489]]], "std": [[[0.20111369364910667]], [[0.24066360824123595]], [[0.2642988578701759]]], "count": [233]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5093806042631478]], [[0.4515263072772027]], [[0.42253779104981254]]], "std": [[[0.21342710706699924]], [[0.257028522644575]], [[0.28189303627735607]]], "count": [233]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1437]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1437]}, "observation.state": {"min": [3.1030584505438465, -4.375453831622955, 0.6999972476901397, 0.0, 0.0, -1.0, 8.836545021040365e-06, -0.15563252056883936, -0.14977587376208534, 0.23805220528694682, -0.9950554370880127, -0.566417396068573, -0.599035918712616, 5.842073278472526e-06, 0.01760168121276484, -0.04046881795923914], "max": [6.97833900709993, -0.9660691310603146, 0.7035145139411643, 0.0, 0.0, 1.0, 1.0, 0.7001842522074826, 0.014577780378822514, 0.8565506427420031, 0.9990880489349365, 0.511427640914917, 0.599238395690918, 0.10864295810461044, 0.04065917249384276, -0.015238563909788635], "mean": [4.988694882024039, -2.1942629144521018, 0.7018887280654222, 0.0, 0.0, 0.3018464176378998, 0.4069366707532791, 0.09893313859295946, -0.053062552904440966, 0.6522241220265511, 0.332040848089907, -0.0490105657234902, 0.2302291730981678, 0.020873290435423277, 0.02917226298977623, -0.027793942968961927], "std": [1.4658094768907577, 1.065165176789518, 0.0011491298414343868, 0.0, 0.0, 0.7818868773241221, 0.3632412524813279, 0.27856015625859476, 0.03198060996838074, 0.18840505548254585, 0.8324105719382013, 0.16738912483461807, 0.3353614073038117, 0.022625659382282396, 0.009684958235740894, 0.010973707986121843], "count": [1437]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.3857142857142857, -1.0, -0.19428571428571428, -0.5885714285714285, -0.5657142857142857, -1.0], "max": [1.0, 1.0, 0.5914285714285714, 0.0, 1.0, 1.0, 0.6857142857142858, 1.0, 0.09428571428571429, 0.68, 0.4228571428571429, 1.0], "mean": [0.3215528382542995, 0.07144348344765887, -0.02593299532756736, 0.0, -0.013221990257480862, -0.009136097027537541, 0.0017397355601948522, -0.002634456705437921, -0.00366636842628492, -0.0027676707426185516, -0.0004374192265632718, 0.07724425887265135], "std": [0.4993737491284304, 0.516056608571752, 0.224744931122024, 0.0, 0.9999125856661901, 0.45286519384555085, 0.08642602093399537, 0.3382718183722096, 0.024105219318330783, 0.10396580245095247, 0.08115390384192488, 0.9970121987574768], "count": [1437]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011134307831525803], "std": [0.10493014007806778], "count": [1437]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006958942240779402], "std": [0.02637062675225667], "count": [1437]}, "timestamp": {"min": [0.0], "max": [71.8], "mean": [35.9], "std": [20.74130339845273], "count": [1437]}, "frame_index": {"min": [0], "max": [1436], "mean": [718.0], "std": [414.8260679690545], "count": [1437]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [1437]}, "index": {"min": [102734], "max": [104170], "mean": [103452.0], "std": [414.8260679690545], "count": [1437]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1437]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6447596281961678]], [[0.5482058827740262]], [[0.49748760298186656]]], "std": [[[0.20044212052936008]], [[0.22536643885835012]], [[0.22340294296668797]]], "count": [216]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5972801441200938]], [[0.5278501534167631]], [[0.4936590822174139]]], "std": [[[0.2250558800331467]], [[0.2386872865050311]], [[0.23275801912572797]]], "count": [216]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6135550266950133]], [[0.5383154351726855]], [[0.5024317750397505]]], "std": [[[0.20572260791404604]], [[0.23103695625237436]], [[0.2278458633112464]]], "count": [216]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1300]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1300]}, "observation.state": {"min": [1.1840375114171877, -3.7854397279858483, 0.6999980210705988, 0.0, 0.0, -1.0, 1.3412469002105354e-07, -0.0410912128716614, -0.20216930858394644, 0.2273409566159268, -0.9995618462562561, -0.36145541071891785, -0.6699720621109009, 1.5888179405010305e-05, 0.0039020008636197175, -0.0403747142067876], "max": [4.329930733268907, -0.5151078089242537, 0.704298077570873, 0.0, 0.0, 1.0, 0.999936580657959, 0.6148608798597724, 0.1340961398183178, 0.8756820766506409, 0.9995612502098083, 0.45226287841796875, 0.5260221362113953, 0.18838496506214142, 0.041549856117536636, -0.0033174119183599685], "mean": [2.6353058839856236, -1.9542247521448386, 0.7018979512780703, 0.0, 0.0, 0.41893816937764106, 0.38421342581829976, 0.17736821427872218, -0.018405229116211463, 0.5881825382368915, -0.02664995872057401, 0.009221695443758598, -0.03250998653896833, 0.06550810482780155, 0.030709572675189714, -0.02782312921723063], "std": [1.1313181189602604, 1.291041712151049, 0.001411522014950795, 0.0, 0.0, 0.7499569762975434, 0.3382830031019872, 0.21235900423154538, 0.07054326628506827, 0.15931588611940067, 0.9218563158830008, 0.11606999735210143, 0.35388030140059307, 0.07303388585328938, 0.011897297592428814, 0.011791418341600983], "count": [1300]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.5714285714285715, -0.8500000000000001, -0.07428571428571429, -0.46857142857142864, -0.34, -1.0], "max": [1.0, 1.0, 0.8, 0.0, 1.0, 1.0, 0.4285714285714286, 1.0, 0.13428571428571429, 0.35428571428571426, 0.2285714285714286, 1.0], "mean": [0.3020054945054946, 0.014280219780219818, -0.10650769230769247, 0.0, -0.05846153846153846, 0.002846153846153832, 0.009076923076923087, 0.003318681318681332, 0.002043956043956044, -0.006610989010989012, -0.0015340659340659325, 0.07846153846153846], "std": [0.4900344603599756, 0.37876871280955704, 0.26499596576505713, 0.0, 0.9982896616316806, 0.41427527444799056, 0.09912741139753065, 0.3093758194450356, 0.017533048821873978, 0.08578077826680046, 0.043115356033023244, 0.9969171414828009], "count": [1300]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01230769231915474], "std": [0.11025521904230118], "count": [1300]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007692307692307692], "std": [0.027724340447600155], "count": [1300]}, "timestamp": {"min": [0.0], "max": [64.95], "mean": [32.475], "std": [18.76387819721712], "count": [1300]}, "frame_index": {"min": [0], "max": [1299], "mean": [649.5], "std": [375.2775639443424], "count": [1300]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1300]}, "index": {"min": [104171], "max": [105470], "mean": [104820.5], "std": [375.2775639443424], "count": [1300]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1300]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5719026754035239]], [[0.5363202486604774]], [[0.5127295150511231]]], "std": [[[0.19751423195168147]], [[0.19476785049662365]], [[0.2110625379670236]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5558194636879938]], [[0.5387099006585104]], [[0.517529237334315]]], "std": [[[0.20759518980323532]], [[0.1986934737876093]], [[0.1968590605208551]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5344022598095423]], [[0.5224745630880715]], [[0.5071915457300088]]], "std": [[[0.20540710300759826]], [[0.20049852709985982]], [[0.20149604266114304]]], "count": [201]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1178]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1178]}, "observation.state": {"min": [1.322930657880041, -4.207640674687285, 0.6999952216050694, 0.0, 0.0, 0.5983462333679199, 0.628862202167511, -0.1375502314535756, -0.20190936213313382, 0.23675092007548182, -0.9999097585678101, -0.09470996260643005, -0.641333818435669, 0.00020223966566845775, 0.01273916822969664, -0.04008240920974098], "max": [3.213476363068808, -0.9767253254178772, 0.7029008500825835, 0.0, 0.0, 0.7775167226791382, 0.8012376427650452, 0.6037598394667829, 0.05195281870833668, 0.7843577969189536, 0.9966617822647095, 0.11871331930160522, 0.699993908405304, 0.0785364881157875, 0.040181529549272864, -0.016755145307366673], "mean": [2.3233539879779936, -2.577503499284556, 0.7007498522049296, 0.0, 0.0, 0.6767964948012994, 0.7336648047881135, 0.14307225555212078, -0.04793723362301533, 0.6012389799371548, -0.4519222167736403, -0.015809438604836197, -0.13619027706935363, 0.020914738754683936, 0.033050619397134065, -0.031519696606649175], "std": [0.562648356773341, 1.3619210996589277, 0.0009103120287138712, 0.0, 0.0, 0.044937962477909515, 0.040780287132803954, 0.25716029642778043, 0.05209064869231904, 0.16574872658701645, 0.8247872159606101, 0.0583062406982377, 0.30426354999649763, 0.016771349792761948, 0.00863401244013024, 0.009061197549286689], "count": [1178]}, "action": {"min": [-1.0, -1.0, -0.44, 0.0, -1.0, -1.0, -0.8142857142857143, -0.9071428571428573, -0.15714285714285714, -0.32857142857142857, -0.14, -1.0], "max": [1.0, 1.0, 0.5314285714285715, 0.0, 1.0, 0.9928571428571428, 0.8571428571428572, 1.0, 0.10285714285714286, 0.44857142857142857, 0.1657142857142857, 1.0], "mean": [0.11521343681785112, 0.014667717681300011, -0.008430754305117626, 0.0, -0.1833616298811545, 0.008391947610962907, -0.0003456221198156745, 0.0021586223623575045, 0.0011326703856415238, -0.003216104778074219, -0.002357506669900557, 0.11035653650254669], "std": [0.5162813441595514, 0.40209443259793753, 0.07982418678334893, 0.0, 0.9830455293053961, 0.4546454326531867, 0.11753141877826835, 0.32664378915225994, 0.019530518404072664, 0.0673084538011595, 0.026702385703239122, 0.9938920639843905], "count": [1178]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013582343235611916], "std": [0.11574914306402206], "count": [1178]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008488964346349745], "std": [0.029123458061813996], "count": [1178]}, "timestamp": {"min": [0.0], "max": [58.85], "mean": [29.425], "std": [17.00295930125106], "count": [1178]}, "frame_index": {"min": [0], "max": [1177], "mean": [588.5], "std": [340.05918602502123], "count": [1178]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [1178]}, "index": {"min": [105471], "max": [106648], "mean": [106059.5], "std": [340.05918602502123], "count": [1178]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1178]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48338214208209324]], [[0.44677315278324875]], [[0.39973745821570816]]], "std": [[[0.2544197467044856]], [[0.25192266245455647]], [[0.25859599434529806]]], "count": [210]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4092873800724717]], [[0.38125844975034284]], [[0.352824887971139]]], "std": [[[0.25337777699978437]], [[0.2371999968711438]], [[0.23663002316421]]], "count": [210]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4610848141339869]], [[0.42909333728608634]], [[0.397372153003454]]], "std": [[[0.26114612235821666]], [[0.24968840078987406]], [[0.2543771742161378]]], "count": [210]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1252]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1252]}, "observation.state": {"min": [0.8584788130410897, -3.5169749314814167, 0.6999949736690971, 0.0, 0.0, -0.39850813150405884, 0.9171647429466248, -0.10506788702762071, -0.05821711246313832, 0.2277975822098579, -0.9908348321914673, -0.4994446039199829, -0.5584967732429504, 6.217776899575256e-06, 0.002177242480847013, -0.04069381926570173], "max": [3.673106816740817, -1.3159962911636796, 0.7068022401706249, 0.0, 0.0, 0.0875641480088234, 1.0, 0.5911868860055978, 0.06998522268527063, 0.7896721254158608, 0.9865781664848328, 0.25968533754348755, 0.552132248878479, 0.07562312483787537, 0.04005409920767264, -0.010280253711191848], "mean": [2.5293807048571204, -2.835337435734817, 0.7020235564247863, 0.0, 0.0, -0.09925531755424531, 0.9883649665326737, 0.12354218307994848, -0.01858297142178215, 0.5936753133388977, 0.12412451269527594, -0.07941817748137175, 0.15237958633010618, 0.0331922864589388, 0.026269251063572197, -0.027544015733558393], "std": [1.095624529521399, 0.6942211206568238, 0.0020701446095138677, 0.0, 0.0, 0.11417011960706253, 0.0157565057160435, 0.2463574519185061, 0.027914698408186372, 0.17753178027584768, 0.908485134369548, 0.15091716752558587, 0.3250576325355751, 0.013449658537786619, 0.012051464972564957, 0.01159641964980703], "count": [1252]}, "action": {"min": [-1.0, -1.0, -0.58, 0.0, -1.0, -1.0, -0.55, -1.0, -0.22285714285714286, -0.4542857142857143, -0.5028571428571429, -1.0], "max": [1.0, 1.0, 0.4285714285714286, 0.0, 1.0, 1.0, 0.7214285714285715, 1.0, 0.09428571428571429, 0.31142857142857144, 0.4742857142857143, 1.0], "mean": [0.06220903696942038, -0.011353263350068461, -0.009794614331355552, 0.0, -0.0670926517571885, -0.0024189867640346634, 0.01483911455956185, -0.029872204472843427, -0.0006891830214513912, 0.0005750798722044767, 0.0033089913281606534, 0.15654952076677317], "std": [0.551407379632402, 0.49348451679174105, 0.1275359829368761, 0.0, 0.997746749471125, 0.4719437599309035, 0.12435388940418284, 0.3516921157766494, 0.021227437823388706, 0.08122959980148776, 0.07864167172142218, 0.9876701106886216], "count": [1252]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01277955248951912], "std": [0.11232202500104904], "count": [1252]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007987220447284345], "std": [0.028250382082791365], "count": [1252]}, "timestamp": {"min": [0.0], "max": [62.55], "mean": [31.275000000000002], "std": [18.071057661354526], "count": [1252]}, "frame_index": {"min": [0], "max": [1251], "mean": [625.5], "std": [361.4211532270905], "count": [1252]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [1252]}, "index": {"min": [106649], "max": [107900], "mean": [107274.5], "std": [361.4211532270905], "count": [1252]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1252]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6138194419334596]], [[0.5716484075139812]], [[0.5384873191337627]]], "std": [[[0.23507411782110135]], [[0.2547840782864176]], [[0.2812859955723372]]], "count": [197]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.539208394799812]], [[0.5044467968929819]], [[0.4797760283138973]]], "std": [[[0.22871878345202695]], [[0.2295840239285093]], [[0.23647252117939518]]], "count": [197]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5453848871364159]], [[0.5040219133524583]], [[0.47363742096715744]]], "std": [[[0.2151750341407041]], [[0.21677331053958168]], [[0.22474659784603113]]], "count": [197]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1152]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1152]}, "observation.state": {"min": [0.9680218886211237, -3.7948931174890226, 0.6999962776494273, 0.0, 0.0, -0.9999997615814209, 0.0006509205559268594, -0.0764931213334048, -0.009513633322200121, 0.23000563929507778, -0.993453323841095, -0.10956764221191406, -0.47044697403907776, 3.3369585707987426e-06, 0.011705332043941623, -0.04007120411564166], "max": [3.6123545922232334, -3.1093533697440607, 0.704114862523439, 0.0, 0.0, 0.9999929666519165, 0.9999986886978149, 0.6114195938414098, 0.22688035301156306, 0.7223747220460072, 0.9838780164718628, 0.10792839527130127, 0.38854241371154785, 0.05149013549089432, 0.04064341623021417, -0.0021081471458371864], "mean": [2.1177162522350566, -3.387204019570583, 0.7017690461511878, 0.0, 0.0, 0.0086078505119076, 0.45791568900919327, 0.15364569516976784, 0.07283195530974312, 0.5846459752062282, -0.36963614836956066, -0.024514297747777566, -0.07087664130247301, 0.023151604716772037, 0.0300245155882435, -0.02858895238609081], "std": [0.9468747258420582, 0.16911821080207085, 0.0012819189026013606, 0.0, 0.0, 0.8236559181015508, 0.33441002400496944, 0.22711781042863788, 0.0516754244540167, 0.14636358943769817, 0.8778002033620347, 0.061886619975969066, 0.28754689465407296, 0.012739772154863849, 0.011446260001254448, 0.01223278199636805], "count": [1152]}, "action": {"min": [-1.0, -1.0, -0.5342857142857143, 0.0, -1.0, -1.0, -0.8, -0.6642857142857144, -0.13428571428571429, -0.26857142857142857, -0.16, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.15428571428571428, 0.26285714285714284, 0.13428571428571429, 1.0], "mean": [0.13829985119047622, -0.014651537698412712, 0.1041741071428571, 0.0, -0.10416666666666667, -0.010038442460317482, 0.014298115079365067, -0.013510664682539662, 0.00021577380952380915, 0.00026289682539682477, -0.0013368055555555555, -0.0920138888888889], "std": [0.39941718401835047, 0.3278580113369731, 0.31759196449405314, 0.0, 0.9945598551900025, 0.4927989853932384, 0.14261698509664603, 0.30369843257098267, 0.015858919017745752, 0.059729421458385605, 0.02366815346243986, 0.9957577236715554], "count": [1152]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013888888992369175], "std": [0.11702985316514969], "count": [1152]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008680555555555555], "std": [0.029449992107096135], "count": [1152]}, "timestamp": {"min": [0.0], "max": [57.55], "mean": [28.775000000000002], "std": [16.627681488008683], "count": [1152]}, "frame_index": {"min": [0], "max": [1151], "mean": [575.5], "std": [332.5536297601737], "count": [1152]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1152]}, "index": {"min": [107901], "max": [109052], "mean": [108476.5], "std": [332.5536297601737], "count": [1152]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1152]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5034830939709145]], [[0.4683440275614731]], [[0.44258021851250806]]], "std": [[[0.18368367494911572]], [[0.19259853593500734]], [[0.2116911627519667]]], "count": [216]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46858394653275987]], [[0.4317517116438589]], [[0.4079634514769178]]], "std": [[[0.1877151763618515]], [[0.19147304022411013]], [[0.20226063216388454]]], "count": [216]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4538823855641794]], [[0.4122578955423858]], [[0.38601711802319855]]], "std": [[[0.1865726771879425]], [[0.1910895280190747]], [[0.20110979039987278]]], "count": [216]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1300]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1300]}, "observation.state": {"min": [3.1183387618486984, -4.477368454270102, 0.6999968102663916, 0.0, 0.0, -1.0, 0.0001325983030255884, -0.05143246712661401, -0.054962234049484415, 0.2274555010384085, -0.9921556115150452, -0.4370684027671814, -0.46006232500076294, 1.9754575077968184e-06, 0.002102433667610172, -0.040892951412901134], "max": [6.73905410425876, -0.9745441903991372, 0.7041406235200509, 0.0, 0.0, 1.0, 1.0, 0.637419216955027, 0.11324795308730629, 0.7675275359169484, 0.9810209274291992, 0.46084558963775635, 0.21129222214221954, 0.3179820775985718, 0.04054837573908597, -0.008458906694336764], "mean": [4.928021236435, -2.1805292022266074, 0.7025038169399438, 0.0, 0.0, 0.04200967643364073, 0.43407572004429174, 0.1438199381144888, 0.03602785410630609, 0.5963957271194509, -0.7745841652154922, 0.09292892917990685, -0.27717532864132616, 0.087139504896862, 0.03055247484595206, -0.028687693185871596], "std": [1.3977568830756841, 1.0806030537415072, 0.0015121777214075949, 0.0, 0.0, 0.8206672905925495, 0.3692135892848643, 0.21435449245658925, 0.03033915340718765, 0.14136898249156893, 0.4738712204707676, 0.2250636746508166, 0.15430282706302134, 0.08914691215712521, 0.012902405331225114, 0.012659690490280085], "count": [1300]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.7714285714285714, -1.0, -0.23142857142857146, -0.3742857142857143, -0.4, -1.0], "max": [1.0, 1.0, 0.7542857142857143, 0.0, 1.0, 1.0, 0.7357142857142858, 1.0, 0.2885714285714286, 0.41714285714285715, 0.5, 1.0], "mean": [0.3953021978021978, 0.07632417582417583, -0.02241978021978023, 0.0, 0.10307692307692308, -0.01467032967032965, 0.008164835164835155, -0.022318681318681324, -0.0014989010989010954, -0.00010549450549450609, 0.00038461538461537806, 0.09692307692307692], "std": [0.5235560494674344, 0.5297941871909372, 0.2589281436927693, 0.0, 0.994673387564475, 0.4535447439917684, 0.09943233455923256, 0.33245399655244534, 0.041537198422564835, 0.08181336603202474, 0.08368106614292943, 0.9952918753610844], "count": [1300]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01230769231915474], "std": [0.11025521904230118], "count": [1300]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007692307692307692], "std": [0.027724340447600155], "count": [1300]}, "timestamp": {"min": [0.0], "max": [64.95], "mean": [32.475], "std": [18.76387819721712], "count": [1300]}, "frame_index": {"min": [0], "max": [1299], "mean": [649.5], "std": [375.2775639443424], "count": [1300]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1300]}, "index": {"min": [109053], "max": [110352], "mean": [109702.5], "std": [375.2775639443424], "count": [1300]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1300]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5916978263308702]], [[0.5418372060738358]], [[0.5284377486991]]], "std": [[[0.23254070200612356]], [[0.24506825621877726]], [[0.23637062875662812]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.620934597031349]], [[0.6013603655875425]], [[0.5769747421220947]]], "std": [[[0.23867696361560503]], [[0.22078885896261785]], [[0.20423722652551105]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5807890709446085]], [[0.5715256221390528]], [[0.5560090294649066]]], "std": [[[0.23635713388336627]], [[0.22444423933855426]], [[0.21276076425335208]]], "count": [178]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1004]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1004]}, "observation.state": {"min": [0.9776422455873108, -3.5044017622242922, 0.6999959566793454, 0.0, 0.0, 0.6158957481384277, 0.03589899465441704, -0.13582382201776189, -0.13887390125944643, 0.34317082860820036, -0.9993820190429688, -0.10095131397247314, -0.45902618765830994, 6.486921847681515e-06, 0.02048963822629924, -0.04093022195553091], "max": [2.726165408151237, -2.9843400266098294, 0.7033085123035532, 0.0, 0.0, 0.9993553757667542, 0.7878276705741882, 0.48382068313650195, 0.038182218143700375, 0.8501898709385151, 0.9994118213653564, 0.09993362426757812, 0.4760119915008545, 0.07346352189779282, 0.04017860103936383, -0.018499191300967967], "mean": [1.7617352290026593, -3.0934792843048187, 0.7010778401704457, 0.0, 0.0, 0.8482483287612755, 0.4170237543929621, 0.16314491020272062, -0.018521016420174504, 0.6323869403866746, -0.3251549757096872, 0.0012080466181811583, -0.10745189514855735, 0.030829582951583685, 0.03433925749206219, -0.03376606457579633], "std": [0.6715909541515162, 0.09846747488590141, 0.0011828725312739376, 0.0, 0.0, 0.13940915526989084, 0.2951796729320468, 0.22512821817039447, 0.04396464844757355, 0.16012188431244784, 0.8773837762175088, 0.048244968017786716, 0.3304883402365701, 0.020591260937463756, 0.005724648468885758, 0.0073263528952605544], "count": [1004]}, "action": {"min": [-1.0, -1.0, -0.9371428571428573, 0.0, -1.0, -1.0, -0.6214285714285714, -0.7571428571428572, -0.07142857142857142, -0.5, -0.15428571428571428, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.4285714285714286, 1.0, 0.2142857142857143, 0.2857142857142857, 0.11714285714285716, 1.0], "mean": [0.10069009675583382, 0.018390722822993737, 0.03258679567444507, 0.0, -0.40836653386454186, -0.01308338076266362, -0.0019066590779738182, -0.010813887307911222, 6.545247581104186e-05, -0.0025071143995446777, 0.00017928286852589658, -0.04183266932270916], "std": [0.34653495046290944, 0.28085522020854414, 0.23003971367377493, 0.0, 0.912818039928804, 0.48819956554411814, 0.09286821388606518, 0.3524069033050221, 0.016897906855543415, 0.09409260554563598, 0.020154506618256914, 0.9991246307530002], "count": [1004]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01593625545501709], "std": [0.12522895634174347], "count": [1004]}, "next.done": {"min": [false], "max": [true], "mean": [0.00099601593625498], "std": [0.03154399924723728], "count": [1004]}, "timestamp": {"min": [0.0], "max": [50.15], "mean": [25.075], "std": [14.491484568531963], "count": [1004]}, "frame_index": {"min": [0], "max": [1003], "mean": [501.5], "std": [289.82969137063924], "count": [1004]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [1004]}, "index": {"min": [110353], "max": [111356], "mean": [110854.5], "std": [289.82969137063924], "count": [1004]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1004]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5573449698658801]], [[0.5127483623094942]], [[0.4580337786668728]]], "std": [[[0.19103573398497428]], [[0.17221090701350436]], [[0.19535759050733506]]], "count": [243]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5543976746122591]], [[0.49990314824388954]], [[0.45190420403931086]]], "std": [[[0.18837270604738907]], [[0.17521374929817785]], [[0.1819689779856546]]], "count": [243]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5531260049401785]], [[0.4958274145040925]], [[0.4491950783767645]]], "std": [[[0.1933134671800381]], [[0.1753185213819817]], [[0.18007790712182647]]], "count": [243]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1517]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1517]}, "observation.state": {"min": [-1.6287559378663796, -4.257524272258148, 0.6999959946810164, 0.0, 0.0, -0.9999998807907104, 0.0006349950563162565, -0.13570614163614714, -0.07879154316797354, 0.24646717279146213, -0.9959405660629272, -0.12199786305427551, -0.5670838952064514, 0.000127989289467223, 0.006350990975758827, -0.040244202388713755], "max": [4.245800971494105, -0.9688623980655122, 0.7018237547050657, 0.0, 0.0, 0.9999785423278809, 1.0, 0.6036163523598514, 0.4611828796228332, 0.8562803811884022, 0.9960522055625916, 0.6728576421737671, 0.45773983001708984, 0.27917641401290894, 0.04000475859240797, -0.008643328587157285], "mean": [1.0501459863100462, -2.137809028700641, 0.7010327414123118, 0.0, 0.0, -0.030272475658155766, 0.9241046086912968, 0.06096420035352359, 0.03463851742078324, 0.625280423019408, 0.1748335220818466, 0.32289334541295966, 0.07959459235568296, 0.15101041328254236, 0.029581040367977183, -0.030566941196244975], "std": [2.2767151726559227, 1.0013594914966004, 0.0006558337980812097, 0.0, 0.0, 0.3162175599638113, 0.21241634719987076, 0.2361302934997289, 0.13250709441998132, 0.15941367778939622, 0.8073508298352081, 0.23109353795736584, 0.34862469783361894, 0.09630636020326772, 0.013611226426011864, 0.012927546259526681], "count": [1517]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.11714285714285716, -0.36, -0.5257142857142857, -1.0], "max": [1.0, 1.0, 0.6942857142857143, 0.0, 1.0, 1.0, 0.7214285714285715, 1.0, 0.26857142857142857, 0.3742857142857143, 0.38285714285714284, 1.0], "mean": [0.36303324230153505, 0.14644034278180623, -0.07391279781523685, 0.0, 0.037574159525379035, -0.0023636877295413763, -0.005245315001412539, 0.003959883228175926, 0.0027102363687729527, -0.0023354364817779476, -0.0018043130238252151, 0.1008569545154911], "std": [0.5339979524086481, 0.547620778219926, 0.23166263796498834, 0.0, 0.9992938419383922, 0.4194656811119836, 0.16596979709320123, 0.2812693826909984, 0.031656918533695545, 0.06602290890985055, 0.07146848922617717, 0.9949009371419301], "count": [1517]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010547132231295109], "std": [0.10215620696544647], "count": [1517]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006591957811470006], "std": [0.025666344540450605], "count": [1517]}, "timestamp": {"min": [0.0], "max": [75.8], "mean": [37.9], "std": [21.89600420168027], "count": [1517]}, "frame_index": {"min": [0], "max": [1516], "mean": [758.0], "std": [437.9200840336054], "count": [1517]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [1517]}, "index": {"min": [111357], "max": [112873], "mean": [112115.0], "std": [437.9200840336054], "count": [1517]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1517]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5649689622066192]], [[0.513709817335467]], [[0.4837255648804468]]], "std": [[[0.23511536030018812]], [[0.2325136260788718]], [[0.2458427024713746]]], "count": [237]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6204048010929549]], [[0.5980896215753657]], [[0.5691577920529449]]], "std": [[[0.22183389220562608]], [[0.21416362973880138]], [[0.21536000671580416]]], "count": [237]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6082220215591099]], [[0.587064990569672]], [[0.5592844362401722]]], "std": [[[0.22585163992435842]], [[0.2188724277285332]], [[0.22032436133230998]]], "count": [237]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1471]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1471]}, "observation.state": {"min": [1.0144693323766534, -6.705774400169899, 0.6999962973555102, 0.0, 0.0, -1.0, 1.211382141264039e-07, -0.10405961238306505, -0.40203149097983193, 0.23468874844168852, -0.9943594336509705, -0.5592080354690552, -0.5367802381515503, 0.0001140779786510393, 0.019008796835901, -0.040784841569094024], "max": [4.012501887614627, -1.2534765103582075, 0.7029882197903415, 0.0, 0.0, 1.0, 0.9999934434890747, 0.5952229230741, 0.03386844777917464, 0.8095179461705818, 0.9982590675354004, 0.7580730319023132, 0.32631659507751465, 0.3180152475833893, 0.040967896886110924, -0.010473563302652013], "mean": [2.3736735059905754, -3.8241612127576308, 0.7015000643615361, 0.0, 0.0, 0.04721198378119398, 0.22384345473630501, 0.10464454770129127, -0.0500887412264926, 0.6174831205410054, -0.4085167979480943, 0.1992700256832719, -0.12224636745761734, 0.10535297032447766, 0.031600994519019696, -0.03235398651993822], "std": [1.2276243727405796, 1.2976341126027475, 0.0005635577617382327, 0.0, 0.0, 0.9265832117035175, 0.2985107950532527, 0.2222098003110232, 0.09646382331642842, 0.15054220233644255, 0.785693085743512, 0.26151940536668594, 0.26298653433513747, 0.11177705983316084, 0.007970446204984799, 0.009621660402610626], "count": [1471]}, "action": {"min": [-1.0, -1.0, -0.8228571428571428, 0.0, -1.0, -1.0, -0.75, -1.0, -0.3, -0.3742857142857143, -0.4885714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4028571428571428, 0.4628571428571429, 0.5657142857142857, 1.0], "mean": [0.3894678061571327, -0.022263766145479234, 0.07469748470428289, 0.0, 0.09041468388851122, 0.00038360687578908095, 0.003020297173934155, -0.006904923764203183, 0.001616004661551907, -0.0029989317276876747, -0.0066601922890162065, 0.10129163834126445], "std": [0.5090050777099134, 0.4293015166409394, 0.28637723850325464, 0.0, 0.9959042046990859, 0.43121311851528665, 0.14675074080311634, 0.3255897157267665, 0.04502290002450817, 0.07247566506130772, 0.09893187150684478, 0.9948567756225857], "count": [1471]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010876954533159733], "std": [0.10372388362884521], "count": [1471]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006798096532970768], "std": [0.02606429573444026], "count": [1471]}, "timestamp": {"min": [0.0], "max": [73.5], "mean": [36.75], "std": [21.23205124334434], "count": [1471]}, "frame_index": {"min": [0], "max": [1470], "mean": [735.0], "std": [424.6410248668868], "count": [1471]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [1471]}, "index": {"min": [112874], "max": [114344], "mean": [113609.0], "std": [424.6410248668868], "count": [1471]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1471]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6099358833144924]], [[0.5867048549351984]], [[0.5535554703486453]]], "std": [[[0.2163525985148407]], [[0.22041883803803108]], [[0.23155922023984876]]], "count": [162]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5620356374836175]], [[0.5281596756073789]], [[0.46911240787547653]]], "std": [[[0.22935936987073757]], [[0.2038539960614735]], [[0.1956667744857209]]], "count": [162]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5747185176349788]], [[0.5456221396511561]], [[0.49605129466337317]]], "std": [[[0.21831787384031365]], [[0.19618255565514103]], [[0.19567834354303848]]], "count": [162]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [886]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [886]}, "observation.state": {"min": [2.2178283461431016, -4.437517267553412, 0.6999945421775086, 0.0, 0.0, -0.9999991655349731, 0.0012910662917420268, -0.06912001811171287, -0.3439263212157595, 0.22788105619019106, -0.9988332986831665, -0.11290174722671509, -0.4984084367752075, 0.00012802296259906143, 0.0021960148719859934, -0.04108703604760355], "max": [4.7192662801641125, -3.7833051959916064, 0.7041123350040513, 0.0, 0.0, 0.9995796084403992, 0.9999994039535522, 0.5782172749752421, -0.011471513411264844, 0.8063092230572252, 0.9957154989242554, 0.07648834586143494, 0.3738820552825928, 0.09600633382797241, 0.04021959764043868, -0.0035167951595314294], "mean": [3.387124867539932, -4.00593271959052, 0.7015307706047997, 0.0, 0.0, 0.3363275438737393, 0.8044565952577183, 0.160485673719859, -0.09940433853042992, 0.5649788625363243, -0.2404377087109783, -0.019246527727516727, -0.0983890563740477, 0.03040581740121358, 0.025413743858144232, -0.02506610900985543], "std": [0.9461196979825426, 0.18635695289370588, 0.0015327983869780665, 0.0, 0.0, 0.447011487012291, 0.19978514584194965, 0.20422020943701655, 0.07982960590798756, 0.17272362481118292, 0.9324175416169038, 0.044421848663805316, 0.24369579894263485, 0.021235388620434545, 0.013416878678551908, 0.013630752098465378], "count": [886]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.9214285714285714, -1.0, -0.12285714285714287, -0.7342857142857143, -0.14, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.7785714285714286, 1.0, 0.2, 0.38, 0.2057142857142857, 1.0], "mean": [0.11364076104482426, 0.04700902934537247, 0.0732989358271525, 0.0, -0.22573363431151242, -0.015656239922605612, -0.008868107062237984, -0.0007497581425346849, 0.0013576265720735242, 0.002908739116414058, -4.837149306675391e-05, 0.10609480812641084], "std": [0.41640231313020215, 0.2939830224186652, 0.35738296109634793, 0.0, 0.9741890608811632, 0.5216651505227541, 0.18602105358323526, 0.41447924110698364, 0.027593211153150568, 0.10538972948295137, 0.028483053591815636, 0.9943560185811864], "count": [886]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018058691173791885], "std": [0.1331637054681778], "count": [886]}, "next.done": {"min": [false], "max": [true], "mean": [0.001128668171557562], "std": [0.033576692507095975], "count": [886]}, "timestamp": {"min": [0.0], "max": [44.25], "mean": [22.125], "std": [12.788300317086708], "count": [886]}, "frame_index": {"min": [0], "max": [885], "mean": [442.5], "std": [255.76600634173417], "count": [886]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [886]}, "index": {"min": [114345], "max": [115230], "mean": [114787.5], "std": [255.76600634173417], "count": [886]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [886]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4878015224050452]], [[0.4629270557198809]], [[0.4513925619801869]]], "std": [[[0.25871908752262135]], [[0.2627640808732268]], [[0.26751717581092965]]], "count": [259]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46577234105741117]], [[0.43916272444894344]], [[0.4244673142760588]]], "std": [[[0.2363260964308354]], [[0.2513193817986976]], [[0.26393941369642077]]], "count": [259]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49076715452465824]], [[0.47349743449956]], [[0.4641364563205455]]], "std": [[[0.23022481876201015]], [[0.2399948754647077]], [[0.24781984699840603]]], "count": [259]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1653]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1653]}, "observation.state": {"min": [-1.8030899789074213, -4.218619057481819, 0.6999953666512495, 0.0, 0.0, -0.999998927116394, 0.0013929072301834822, -0.030366571590495606, -0.10086407117095714, 0.24895697253674398, -0.9989269375801086, -0.20843656361103058, -0.5844553709030151, 8.900920875021257e-06, 0.020533015533943166, -0.04017993704457302], "max": [4.258649440780737, -0.9574056332645161, 0.7040993376003245, 0.0, 0.0, 0.9999990463256836, 1.0, 0.6288650738235066, 0.06419800064005621, 0.8585613376022379, 0.9997895956039429, 0.6011502146720886, 0.5068124532699585, 0.2004881352186203, 0.040998109192438056, -0.020533543818211583], "mean": [1.081661510077828, -1.9916060859237625, 0.7027600606887707, 0.0, 0.0, -0.026664092456861823, 0.9219328143965753, 0.1828264007484033, -0.036046065463828304, 0.6146675922265381, -0.3630422277661143, 0.03393078453645011, -0.14214567124928604, 0.03250950659042918, 0.039666800336874086, -0.034753221016894126], "std": [2.34633154289673, 0.9980766247224496, 0.0011622441145113741, 0.0, 0.0, 0.3127548921959853, 0.22696545157835615, 0.20552126559968154, 0.02799260072727229, 0.1530206889837631, 0.8452259161409289, 0.16953681213527758, 0.31887567972052433, 0.030911235232457524, 0.0012094228861311484, 0.004822487600335521], "count": [1653]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.4857142857142857, -1.0, -0.2, -0.6228571428571429, -0.5371428571428571, -1.0], "max": [1.0, 1.0, 0.3342857142857143, 0.0, 1.0, 1.0, 0.6500000000000001, 1.0, 0.26857142857142857, 0.4914285714285715, 0.48, 1.0], "mean": [0.3466467893872613, 0.11813153573589134, -0.06751188315616621, 0.0, 0.08287961282516637, -0.017587071126091088, 0.002078472042174402, 0.0013654826721977596, 0.0007726212081928961, -0.0017405582922824289, 0.0006913836314925253, 0.04900181488203267], "std": [0.5250459860854545, 0.48978348315641973, 0.19751450972664517, 0.0, 0.996559566597967, 0.3783306676274727, 0.07699890777861458, 0.2954761985394242, 0.02907023945958635, 0.0920261652632148, 0.06890755367841926, 0.9987986894956707], "count": [1653]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009679370559751987], "std": [0.09790648519992828], "count": [1653]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006049606775559589], "std": [0.024588507480824653], "count": [1653]}, "timestamp": {"min": [0.0], "max": [82.6], "mean": [41.300000000000004], "std": [23.858995508333262], "count": [1653]}, "frame_index": {"min": [0], "max": [1652], "mean": [826.0], "std": [477.1799101666652], "count": [1653]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [1653]}, "index": {"min": [115231], "max": [116883], "mean": [116057.0], "std": [477.1799101666652], "count": [1653]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1653]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5270477060771659]], [[0.4770980888439691]], [[0.4447927885641821]]], "std": [[[0.23606060173586188]], [[0.2564490937299593]], [[0.2630913503622619]]], "count": [207]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49305529625587213]], [[0.4181633031017075]], [[0.3974599234272136]]], "std": [[[0.2234198765050891]], [[0.2400490729790945]], [[0.23765069012725726]]], "count": [207]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5058736214507221]], [[0.44776218302651677]], [[0.42409467553509744]]], "std": [[[0.23524701573110007]], [[0.24480609602063838]], [[0.2416471561013444]]], "count": [207]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1231]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1231]}, "observation.state": {"min": [-1.0029842560079483, -3.7946066463904238, 0.6999964529038487, 0.0, 0.0, -0.9998855590820312, 0.009854866191744804, -0.13355158124279853, -0.14995666746523062, 0.2331630476864155, -0.9978889226913452, -0.33035722374916077, -0.5058955550193787, 8.827933197608218e-05, 0.01829865629056304, -0.04061159563509183], "max": [0.6102887609931764, -1.0315374072051344, 0.7031839112222128, 0.0, 0.0, 0.9999514818191528, 1.0, 0.5984909481573575, 0.19747718214195098, 0.859829571216164, 0.9996768832206726, 0.3433259129524231, 0.43282660841941833, 0.1369834691286087, 0.04043428449145538, -0.01603329939066329], "mean": [-0.20605557951218728, -2.184998983501297, 0.7012295672352304, 0.0, 0.0, 0.3130105477452971, 0.8240779511347582, 0.16151120735571578, -0.011630330275724628, 0.6293053875756089, -0.5389818320131031, 0.024696380723113455, -0.15533991412826678, 0.04560341349069689, 0.031221578398009413, -0.03362190905035137], "std": [0.5662743343397225, 1.0481999536054394, 0.0007942695137361402, 0.0, 0.0, 0.4305460210221547, 0.1937783904674768, 0.2579034023548088, 0.08724430777699808, 0.20551352919396862, 0.7436232739873658, 0.1555516795207943, 0.3235857416814232, 0.028264513742772664, 0.008170792645510159, 0.009055886769666677], "count": [1231]}, "action": {"min": [-1.0, -1.0, -0.28, 0.0, -1.0, -1.0, -1.0, -0.942857142857143, -0.16, -0.4942857142857143, -0.29714285714285715, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9071428571428573, 1.0, 0.18285714285714286, 0.4228571428571429, 0.5714285714285714, 1.0], "mean": [0.14507949402344206, -0.05361494719740045, 0.11236857374956487, 0.0, -0.23151909017059302, -0.006980387605895311, -0.0011546942091215137, -0.0038934664036207388, 0.0028965997446907294, -0.002527561796448883, 0.005809446443077638, 0.07067424857839155], "std": [0.3752177834053236, 0.35184781404014276, 0.24386072503558337, 0.0, 0.9728303607960471, 0.4765123291836532, 0.1498177784044541, 0.3419264698167904, 0.02917259678874531, 0.09317247214859697, 0.06877496939547607, 0.9974994489160754], "count": [1231]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012997562997043133], "std": [0.11326351761817932], "count": [1231]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008123476848090983], "std": [0.02849013471446008], "count": [1231]}, "timestamp": {"min": [0.0], "max": [61.5], "mean": [30.75], "std": [17.767948671695333], "count": [1231]}, "frame_index": {"min": [0], "max": [1230], "mean": [615.0], "std": [355.35897343390667], "count": [1231]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [1231]}, "index": {"min": [116884], "max": [118114], "mean": [117499.0], "std": [355.35897343390667], "count": [1231]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1231]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5564951498991524]], [[0.5087332381276078]], [[0.4751731611834187]]], "std": [[[0.19228404307306535]], [[0.22273590044703054]], [[0.24533988017134023]]], "count": [210]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4979333940607493]], [[0.44001766372239]], [[0.4104522143737052]]], "std": [[[0.18751250130497968]], [[0.2257517950724861]], [[0.24832897281858088]]], "count": [210]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49872954296464683]], [[0.43829943602603805]], [[0.40720142923705943]]], "std": [[[0.19637771935775697]], [[0.23384170143167476]], [[0.25642497363287403]]], "count": [210]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1252]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1252]}, "observation.state": {"min": [0.9973400708670508, -3.8684467129119793, 0.6999951755811384, 0.0, 0.0, -1.0, 2.0996858438593335e-05, -0.0492821953526299, -0.10968099373159745, 0.2316757068491455, -0.9995707273483276, -0.5821526646614075, -0.5530376434326172, 6.035496699041687e-05, 0.006437894051072181, -0.04008765332547961], "max": [3.984562213872056, -2.641145782336428, 0.702237364237206, 0.0, 0.0, 1.0, 0.9999988079071045, 0.5654272313201556, 0.11573344264288377, 0.8158749120121901, 0.9901073575019836, 0.5825345516204834, 0.41183656454086304, 0.12154962867498398, 0.04005323587880192, -0.0077200606307128135], "mean": [2.0150472817116656, -3.1938500787532513, 0.7011162730713509, 0.0, 0.0, 0.3939222374541563, 0.3928821997862975, 0.1690206335442402, 0.014384264641484693, 0.6113381738269741, -0.38180136156920047, -0.033187390261957536, -0.15779577604636882, 0.05141069334479016, 0.02911897646570327, -0.027212478957839664], "std": [0.9880467324542579, 0.3917351330250371, 0.0006126278549898228, 0.0, 0.0, 0.7333066490680765, 0.3908071382198547, 0.20872836044453494, 0.05226774430715489, 0.1687981922370642, 0.8429595600161152, 0.17685575642782306, 0.28807211534651467, 0.027192479222786597, 0.011669633795212107, 0.012737480718001268], "count": [1252]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.5571428571428572, -1.0, -0.13428571428571429, -0.7942857142857143, -0.8542857142857143, -1.0], "max": [1.0, 1.0, 0.7485714285714286, 0.0, 1.0, 1.0, 0.6714285714285714, 1.0, 0.2857142857142857, 0.4371428571428572, 0.5142857142857142, 1.0], "mean": [0.16538680967594702, 0.0183363760839799, -0.06405066179826568, 0.0, -0.09424920127795527, -0.03149246919214971, 0.005203103605659517, -0.014337060702875435, 0.007193062528525788, -0.002797809219534453, -0.005591054313099044, -0.025559105431309903], "std": [0.4292625858657523, 0.37763545263577336, 0.26429005049494975, 0.0, 0.995548636711664, 0.4637132050992736, 0.11294961297074026, 0.3384876110764352, 0.035194724984633954, 0.10856456595284683, 0.12628019980604002, 0.9996733127024756], "count": [1252]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01277955248951912], "std": [0.11232202500104904], "count": [1252]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007987220447284345], "std": [0.028250382082791365], "count": [1252]}, "timestamp": {"min": [0.0], "max": [62.55], "mean": [31.275000000000002], "std": [18.071057661354526], "count": [1252]}, "frame_index": {"min": [0], "max": [1251], "mean": [625.5], "std": [361.4211532270905], "count": [1252]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1252]}, "index": {"min": [118115], "max": [119366], "mean": [118740.5], "std": [361.4211532270905], "count": [1252]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1252]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6180539097963405]], [[0.5523146944935201]], [[0.5147329503700895]]], "std": [[[0.2070411152510346]], [[0.20521936157189238]], [[0.20990098484282385]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6266987691072523]], [[0.5533811855430648]], [[0.4885021754673549]]], "std": [[[0.2086357975605266]], [[0.1989466488515642]], [[0.21324306282313024]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6138379439300133]], [[0.5531208748147697]], [[0.49990005126806586]]], "std": [[[0.18717022214472945]], [[0.17960812120708836]], [[0.19120412235349268]]], "count": [196]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1139]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1139]}, "observation.state": {"min": [1.9797997388610438, -4.472435942115135, 0.699996939732313, 0.0, 0.0, -0.9996115565299988, 0.005298387724906206, -0.010608895423606102, -0.10734207096395743, 0.23996263204508772, -0.9994528889656067, -0.06943430006504059, -0.5101609826087952, 1.6739722923375666e-05, 0.020531718202042085, -0.04006351807845339], "max": [4.584994029608861, -0.9829901773109886, 0.7024201840576735, 0.0, 0.0, 0.9999860525131226, 1.0, 0.5937587290267614, 0.026727335600370772, 0.7523292050810668, 0.9967457056045532, 0.09244281053543091, 0.576332151889801, 0.06256125867366791, 0.040330638262577406, -0.020534840810015113], "mean": [3.7864765478009934, -2.5957799624093125, 0.7006279093717556, 0.0, 0.0, 0.17995669050463872, 0.7387082553550411, 0.20767785948319442, -0.038058323353527886, 0.6045225152040672, -0.06798508117029392, 0.009288254072129255, 0.08079138075198122, 0.02361613400484988, 0.03776359464608079, -0.036983344539956574], "std": [0.7937342581139472, 1.3179660613553128, 0.0005196212919378301, 0.0, 0.0, 0.6273206110637555, 0.16850682633085873, 0.18355076721794228, 0.030509967348371216, 0.15269826749087978, 0.9251393699031928, 0.033952377136424544, 0.3618789269617645, 0.014656440262127458, 0.0031845984694700963, 0.0030182590546867475], "count": [1139]}, "action": {"min": [-1.0, -1.0, -0.02, 0.0, -1.0, -1.0, -0.36428571428571427, -0.7142857142857143, -0.15428571428571428, -0.4371428571428572, -0.12, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.4785714285714286, 1.0, 0.30285714285714294, 0.6, 0.19428571428571428, 1.0], "mean": [0.15430201931518872, -0.05755048287971911, 0.1264969271290607, 0.0, -0.2309043020193152, -0.01268029599899661, -0.0010786404113884342, -0.008422174840085294, -0.000727455161168945, -0.002189890881725819, -0.0017785024457544216, 0.09218612818261633], "std": [0.4486351879127939, 0.32844852418930337, 0.25763861703785335, 0.0, 0.9729764659584369, 0.4257064057438799, 0.07120057250666592, 0.2933213354478226, 0.02385056823816006, 0.10282598713033628, 0.015273198977268481, 0.9957417927207313], "count": [1139]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01404741033911705], "std": [0.11768636107444763], "count": [1139]}, "next.done": {"min": [false], "max": [true], "mean": [0.000877963125548727], "std": [0.02961743247310448], "count": [1139]}, "timestamp": {"min": [0.0], "max": [56.9], "mean": [28.450000000000003], "std": [16.440042579020286], "count": [1139]}, "frame_index": {"min": [0], "max": [1138], "mean": [569.0], "std": [328.8008515804057], "count": [1139]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [1139]}, "index": {"min": [119367], "max": [120505], "mean": [119936.0], "std": [328.8008515804057], "count": [1139]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1139]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.545204920381542]], [[0.5039924737371003]], [[0.46474880845203104]]], "std": [[[0.2471768804672018]], [[0.21356390794531555]], [[0.2233244870947977]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49548612632426076]], [[0.4299566929636438]], [[0.39732216179694424]]], "std": [[[0.21514573862834643]], [[0.20635507329717137]], [[0.20456502124562015]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5113404780774864]], [[0.4610619168563104]], [[0.4320349802642853]]], "std": [[[0.2269148435095929]], [[0.21346894626546792]], [[0.20815189668107673]]], "count": [177]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [996]}, "annotation.human.task_name": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [996]}, "observation.state": {"min": [0.6678104798850004, -4.224052704911954, 0.6999964967320427, 0.0, 0.0, -0.007076494861394167, 0.7151107788085938, -0.10582999882670396, -0.36835759783174726, 0.24741351883163443, -0.9994093179702759, -0.7408868074417114, -0.48902150988578796, 1.5889698261162266e-05, 0.0006986422531706522, -0.04066891520334324], "max": [1.416504864411302, -1.0071759462048524, 0.7019518715231023, 0.0, 0.0, 0.6990110874176025, 1.0, 0.5842449585365993, 0.04266581405807113, 0.7946090184369611, 0.9744948744773865, 0.6371671557426453, 0.6427164673805237, 0.2887303829193115, 0.04019147457152947, -0.01353797815163329], "mean": [1.1787100644408202, -2.3533787759310063, 0.7005197952978984, 0.0, 0.0, 0.36792726511925233, 0.8840367351191111, 0.15956242521780842, -0.08158590393372205, 0.5571449377476736, -0.48956116351736595, -0.09926630559575605, -0.0884139454415948, 0.04942794199024616, 0.03296384224422464, -0.03099480866273855], "std": [0.2302291399587308, 1.0346721415816373, 0.0004523392058396114, 0.0, 0.0, 0.2666594096096518, 0.10955065794531048, 0.20500168431324453, 0.13270344511251456, 0.15881108700452476, 0.7725798756601404, 0.2317010098368586, 0.29590761774551055, 0.045711919359069764, 0.01031680438228386, 0.009892128233221453], "count": [996]}, "action": {"min": [-1.0, -1.0, -0.9485714285714286, 0.0, -1.0, -1.0, -1.0, -0.8857142857142857, -0.39714285714285713, -0.4314285714285714, -0.6514285714285715, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9714285714285714, 1.0, 0.4, 0.31142857142857144, 0.6514285714285715, 1.0], "mean": [0.10441049913941478, -0.0042168674698795285, 0.026483075157773952, 0.0, -0.3253012048192771, 0.005177854274239815, -0.013209982788296057, 0.0056153184165232415, 0.0017383820998278805, -0.008904188181296615, 0.0011158921399885132, -0.0783132530120482], "std": [0.4773257724476972, 0.3546098403244066, 0.1970304061942879, 0.0, 0.9456104515830671, 0.4799006330241075, 0.1925888746402593, 0.3462959426367105, 0.05796435383509617, 0.08979456787924199, 0.1340045723171218, 0.9969288010698976], "count": [996]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01606425642967224], "std": [0.12572269141674042], "count": [996]}, "next.done": {"min": [false], "max": [true], "mean": [0.001004016064257028], "std": [0.03167030179836848], "count": [996]}, "timestamp": {"min": [0.0], "max": [49.75], "mean": [24.875], "std": [14.376014456958043], "count": [996]}, "frame_index": {"min": [0], "max": [995], "mean": [497.5], "std": [287.52028913916087], "count": [996]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [996]}, "index": {"min": [120506], "max": [121501], "mean": [121003.5], "std": [287.52028913916087], "count": [996]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [996]}}} diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/info.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..b3e5c47423ce0e13720e89d9bb8dc70663fa8111 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 100, + "total_frames": 121502, + "total_tasks": 42, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:100" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/modality.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/stats.json b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9f8a9b0951f46786329d66dc07b31450053423d2 --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 18.64661407470703 + ], + "std": [ + 11.11562728881836 + ], + "min": [ + 0.0 + ], + "max": [ + 41.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 41.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 42.0 + ], + "std": [ + 0.0 + ], + "min": [ + 42.0 + ], + "max": [ + 42.0 + ], + "q01": [ + 42.0 + ], + "q99": [ + 42.0 + ] + }, + "observation.state": { + "mean": [ + 2.541461706161499, + -2.977281332015991, + 0.701683759689331, + 0.0, + 0.0, + 0.32241514325141907, + 0.623482346534729, + 0.1543458253145218, + -0.02059939131140709, + 0.6096556782722473, + -0.28486108779907227, + 0.0509648397564888, + -0.09076139330863953, + 0.059738337993621826, + 0.031043825671076775, + -0.030211275443434715 + ], + "std": [ + 1.7276251316070557, + 1.4486110210418701, + 0.0014980845153331757, + 0.0, + 0.0, + 0.6233004331588745, + 0.34485340118408203, + 0.23526568710803986, + 0.07761631160974503, + 0.16772644221782684, + 0.8600059747695923, + 0.21976475417613983, + 0.33258163928985596, + 0.07692959904670715, + 0.010586013086140156, + 0.010824629105627537 + ], + "min": [ + -3.328719139099121, + -7.993188381195068, + 0.6999322175979614, + 0.0, + 0.0, + -1.0, + 0.0, + -0.21596746146678925, + -0.46238550543785095, + 0.22447249293327332, + -0.9999613761901855, + -0.8208536505699158, + -0.778249979019165, + 4.98804411108722e-07, + -0.0003887905622832477, + -0.04214443638920784 + ], + "max": [ + 7.031285285949707, + -0.32433179020881653, + 0.709537923336029, + 0.0, + 0.0, + 1.0, + 1.0, + 0.7469055652618408, + 0.4611828923225403, + 1.0678048133850098, + 0.9999749660491943, + 0.9152838587760925, + 0.7840652465820312, + 0.6500391364097595, + 0.04162675514817238, + 0.0020144712179899216 + ], + "q01": [ + -1.694249153137207, + -6.686898231506348, + 0.6999982595443726, + 0.0, + 0.0, + -1.0, + 0.00013492180733010173, + -0.18170297145843506, + -0.26071062684059143, + 0.23598125576972961, + -0.9986791610717773, + -0.5155041813850403, + -0.5762497186660767, + 0.0005241894396021962, + 0.007340159732848406, + -0.040087562054395676 + ], + "q99": [ + 6.36523962020874, + -0.47611305117607117, + 0.7069079875946045, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6389186382293701, + 0.22627179324626923, + 0.8393926024436951, + 0.9959890246391296, + 0.6837990880012512, + 0.5689409971237183, + 0.37047210335731506, + 0.04013532027602196, + -0.007262532599270344 + ] + }, + "action": { + "mean": [ + 0.19870656728744507, + 0.006256454158574343, + -0.0038506179116666317, + 0.0, + -0.11504337191581726, + -0.005562926642596722, + -0.0004892341094091535, + -0.008017024025321007, + 0.0014011935563758016, + -0.002139285672456026, + -0.000958765100222081, + 0.07777649909257889 + ], + "std": [ + 0.4903625547885895, + 0.4229554831981659, + 0.24165000021457672, + 0.0, + 0.992814302444458, + 0.45902472734451294, + 0.12732788920402527, + 0.3277725279331207, + 0.037091806530952454, + 0.09079056233167648, + 0.06605912744998932, + 0.9973305463790894 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9514285922050476, + -0.9457142949104309, + -0.854285717010498, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.822857141494751, + 0.8799999952316284, + 1.0 + ], + "q01": [ + -1.0, + -1.0, + -0.9257143139839172, + 0.0, + -1.0, + -1.0, + -0.44999998807907104, + -0.7571428418159485, + -0.10571428388357162, + -0.33714285492897034, + -0.24857142567634583, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 0.9657142758369446, + 0.0, + 1.0, + 1.0, + 0.44285714626312256, + 1.0, + 0.12857143580913544, + 0.27142858505249023, + 0.21142856776714325, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.012518312782049179 + ], + "std": [ + 0.11118276417255402 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0008230317034758627 + ], + "std": [ + 0.028676718473434448 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 31.260234832763672 + ], + "std": [ + 19.145421981811523 + ], + "min": [ + 0.0 + ], + "max": [ + 97.05000305175781 + ], + "q01": [ + 0.6000000238418579 + ], + "q99": [ + 77.25 + ] + }, + "frame_index": { + "mean": [ + 625.2046508789062 + ], + "std": [ + 382.9084167480469 + ], + "min": [ + 0.0 + ], + "max": [ + 1941.0 + ], + "q01": [ + 12.0 + ], + "q99": [ + 1545.0 + ] + }, + "episode_index": { + "mean": [ + 49.556541442871094 + ], + "std": [ + 29.085241317749023 + ], + "min": [ + 0.0 + ], + "max": [ + 99.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 98.0 + ] + }, + "index": { + "mean": [ + 60750.5 + ], + "std": [ + 35074.60546875 + ], + "min": [ + 0.0 + ], + "max": [ + 121501.0 + ], + "q01": [ + 1215.010009765625 + ], + "q99": [ + 120285.9921875 + ] + }, + "task_index": { + "mean": [ + 18.64661407470703 + ], + "std": [ + 11.11562728881836 + ], + "min": [ + 0.0 + ], + "max": [ + 41.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 41.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/tasks.jsonl b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8778b3a08b028699164e55817a18b46b30d69c2a --- /dev/null +++ b/pretrain/composite/StoreLeftoversByType/20250804/lerobot/meta/tasks.jsonl @@ -0,0 +1,43 @@ +{"task_index": 0, "task": "Transport the chicken drumstick and onion to the fridge. Place the chicken drumstick on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 1, "task": "Transport the chicken drumstick and lemon to the fridge. Place the chicken drumstick on the rack containing meat and place the lemon on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 2, "task": "Transport the chicken drumstick and lemon wedge to the fridge. Place the chicken drumstick on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 3, "task": "Transport the steak and squash to the fridge. Place the steak on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 4, "task": "Transport the chicken drumstick and mushroom to the fridge. Place the chicken drumstick on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 5, "task": "Transport the chicken drumstick and tomato to the fridge. Place the chicken drumstick on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 6, "task": "Transport the fish and sweet potato to the fridge. Place the fish on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 7, "task": "Transport the chicken drumstick and cucumber to the fridge. Place the chicken drumstick on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 8, "task": "Transport the steak and garlic to the fridge. Place the steak on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 9, "task": "Transport the fish and broccoli to the fridge. Place the fish on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 10, "task": "Transport the steak and corn to the fridge. Place the steak on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 11, "task": "Transport the chicken drumstick and garlic to the fridge. Place the chicken drumstick on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 12, "task": "Transport the fish and onion to the fridge. Place the fish on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 13, "task": "Transport the chicken drumstick and squash to the fridge. Place the chicken drumstick on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 14, "task": "Transport the steak and lime to the fridge. Place the steak on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 15, "task": "Transport the chicken drumstick and lime to the fridge. Place the chicken drumstick on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 16, "task": "Transport the steak and potato to the fridge. Place the steak on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 17, "task": "Transport the fish and mushroom to the fridge. Place the fish on the rack containing meat and place the mushroom on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 18, "task": "Transport the steak and broccoli to the fridge. Place the steak on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 19, "task": "Transport the steak and cucumber to the fridge. Place the steak on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 20, "task": "Transport the steak and avocado to the fridge. Place the steak on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 21, "task": "Transport the chicken drumstick and carrot to the fridge. Place the chicken drumstick on the rack containing meat and place the carrot on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 22, "task": "Transport the fish and squash to the fridge. Place the fish on the rack containing meat and place the squash on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 23, "task": "Transport the fish and lime to the fridge. Place the fish on the rack containing meat and place the lime on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 24, "task": "Transport the steak and lemon to the fridge. Place the steak on the rack containing meat and place the lemon on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 25, "task": "Transport the chicken drumstick and eggplant to the fridge. Place the chicken drumstick on the rack containing meat and place the eggplant on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 26, "task": "Transport the steak and tomato to the fridge. Place the steak on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 27, "task": "Transport the steak and lemon wedge to the fridge. Place the steak on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 28, "task": "Transport the fish and cucumber to the fridge. Place the fish on the rack containing meat and place the cucumber on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 29, "task": "Transport the fish and corn to the fridge. Place the fish on the rack containing meat and place the corn on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 30, "task": "Transport the chicken drumstick and avocado to the fridge. Place the chicken drumstick on the rack containing meat and place the avocado on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 31, "task": "Transport the fish and lemon wedge to the fridge. Place the fish on the rack containing meat and place the lemon wedge on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 32, "task": "Transport the chicken drumstick and potato to the fridge. Place the chicken drumstick on the rack containing meat and place the potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 33, "task": "Transport the steak and sweet potato to the fridge. Place the steak on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 34, "task": "Transport the fish and tomato to the fridge. Place the fish on the rack containing meat and place the tomato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 35, "task": "Transport the steak and bell pepper to the fridge. Place the steak on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 36, "task": "Transport the chicken drumstick and broccoli to the fridge. Place the chicken drumstick on the rack containing meat and place the broccoli on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 37, "task": "Transport the chicken drumstick and bell pepper to the fridge. Place the chicken drumstick on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 38, "task": "Transport the fish and garlic to the fridge. Place the fish on the rack containing meat and place the garlic on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 39, "task": "Transport the chicken drumstick and sweet potato to the fridge. Place the chicken drumstick on the rack containing meat and place the sweet potato on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 40, "task": "Transport the fish and bell pepper to the fridge. Place the fish on the rack containing meat and place the bell pepper on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 41, "task": "Transport the steak and onion to the fridge. Place the steak on the rack containing meat and place the onion on the rack containing the vegetable, ensuring meats and vegetables are on different racks."} +{"task_index": 42, "task": "StoreLeftoversByType"}