Hugging Face's logo

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

Tasks:
Robotics
Tags:
robotics
License:
Dataset card Files
xet
 Community
1
Abhim03 commited on
Commit
ea87ff0
·
verified ·
1 Parent(s): e87bc37

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/dataset_meta.json +392 -0
  2. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000000/ep_meta.json +529 -0
  3. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000001/ep_meta.json +516 -0
  4. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000002/ep_meta.json +499 -0
  5. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000003/ep_meta.json +607 -0
  6. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000004/ep_meta.json +540 -0
  7. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000005/ep_meta.json +526 -0
  8. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000007/ep_meta.json +513 -0
  9. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000008/ep_meta.json +442 -0
  10. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000009/ep_meta.json +566 -0
  11. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000010/ep_meta.json +571 -0
  12. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000011/ep_meta.json +580 -0
  13. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000012/ep_meta.json +485 -0
  14. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000013/ep_meta.json +693 -0
  15. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000014/ep_meta.json +691 -0
  16. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000015/ep_meta.json +501 -0
  17. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000016/ep_meta.json +506 -0
  18. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000018/ep_meta.json +691 -0
  19. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000019/ep_meta.json +529 -0
  20. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000020/ep_meta.json +524 -0
  21. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000021/ep_meta.json +511 -0
  22. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000022/ep_meta.json +505 -0
  23. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000023/ep_meta.json +541 -0
  24. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000024/ep_meta.json +563 -0
  25. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000025/ep_meta.json +567 -0
  26. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000026/ep_meta.json +475 -0
  27. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000027/ep_meta.json +512 -0
  28. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000028/ep_meta.json +565 -0
  29. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000029/ep_meta.json +501 -0
  30. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000030/ep_meta.json +580 -0
  31. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000031/ep_meta.json +692 -0
  32. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000032/ep_meta.json +530 -0
  33. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000033/ep_meta.json +565 -0
  34. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000034/ep_meta.json +467 -0
  35. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000035/ep_meta.json +514 -0
  36. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000036/ep_meta.json +486 -0
  37. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000037/ep_meta.json +535 -0
  38. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000038/ep_meta.json +556 -0
  39. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000039/ep_meta.json +528 -0
  40. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000040/ep_meta.json +505 -0
  41. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000041/ep_meta.json +472 -0
  42. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000043/ep_meta.json +583 -0
  43. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000044/ep_meta.json +495 -0
  44. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000045/ep_meta.json +523 -0
  45. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000046/ep_meta.json +473 -0
  46. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000047/ep_meta.json +500 -0
  47. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000048/ep_meta.json +538 -0
  48. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000049/ep_meta.json +540 -0
  49. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000050/ep_meta.json +501 -0
  50. pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000051/ep_meta.json +512 -0
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/dataset_meta.json ADDED
@@ -0,0 +1,392 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "date": "9-4-2025",
3
+ "env": "DeliverBrewedCoffee",
4
+ "env_args": {
5
+ "type": 1,
6
+ "env_name": "DeliverBrewedCoffee",
7
+ "env_version": "0.5.1",
8
+ "robosuite_version": "1.5.2",
9
+ "mujoco_version": "3.3.1",
10
+ "env_kwargs": {
11
+ "env_name": "DeliverBrewedCoffee",
12
+ "robots": "PandaOmron",
13
+ "layout_ids": -2,
14
+ "style_ids": -2,
15
+ "obj_instance_split": "pretrain",
16
+ "clutter_mode": 0,
17
+ "translucent_robot": false,
18
+ "layout_and_style_ids": null,
19
+ "controller_configs": {
20
+ "type": "HYBRID_MOBILE_BASE",
21
+ "composite_controller_specific_configs": {
22
+ "left_offset": [
23
+ 0.0,
24
+ 0.0,
25
+ 0.0
26
+ ],
27
+ "right_offset": [
28
+ -0.15,
29
+ 0.0,
30
+ 0.35
31
+ ],
32
+ "left2arm_transform": [
33
+ [
34
+ 1,
35
+ 0,
36
+ 0,
37
+ 0
38
+ ],
39
+ [
40
+ 0,
41
+ 1,
42
+ 0,
43
+ 0
44
+ ],
45
+ [
46
+ 0,
47
+ 0,
48
+ 1,
49
+ 0
50
+ ],
51
+ [
52
+ 0,
53
+ 0,
54
+ 0,
55
+ 1
56
+ ]
57
+ ],
58
+ "right2arm_transform": [
59
+ [
60
+ 0,
61
+ 0.7071068,
62
+ 0.7071068,
63
+ 0
64
+ ],
65
+ [
66
+ 1,
67
+ 0,
68
+ 0,
69
+ 0
70
+ ],
71
+ [
72
+ 0,
73
+ 0.7071068,
74
+ -0.7071068,
75
+ 0
76
+ ],
77
+ [
78
+ 0,
79
+ 0,
80
+ 0,
81
+ 1
82
+ ]
83
+ ],
84
+ "left2finger_transform": [
85
+ [
86
+ 1,
87
+ 0,
88
+ 0,
89
+ 0
90
+ ],
91
+ [
92
+ 0,
93
+ 1,
94
+ 0,
95
+ 0
96
+ ],
97
+ [
98
+ 0,
99
+ 0,
100
+ 1,
101
+ 0
102
+ ],
103
+ [
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 1
108
+ ]
109
+ ],
110
+ "right2finger_transform": [
111
+ [
112
+ 1,
113
+ 0,
114
+ 0,
115
+ 0
116
+ ],
117
+ [
118
+ 0,
119
+ 1,
120
+ 0,
121
+ 0
122
+ ],
123
+ [
124
+ 0,
125
+ 0,
126
+ 1,
127
+ 0
128
+ ],
129
+ [
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 1
134
+ ]
135
+ ],
136
+ "body_part_ordering": [
137
+ "right",
138
+ "right_gripper",
139
+ "base",
140
+ "torso"
141
+ ]
142
+ },
143
+ "body_parts": {
144
+ "right": {
145
+ "type": "OSC_POSE",
146
+ "input_max": 1,
147
+ "input_min": -1,
148
+ "output_max": [
149
+ 0.05,
150
+ 0.05,
151
+ 0.05,
152
+ 0.5,
153
+ 0.5,
154
+ 0.5
155
+ ],
156
+ "output_min": [
157
+ -0.05,
158
+ -0.05,
159
+ -0.05,
160
+ -0.5,
161
+ -0.5,
162
+ -0.5
163
+ ],
164
+ "kp": 150,
165
+ "damping_ratio": 1,
166
+ "impedance_mode": "fixed",
167
+ "kp_limits": [
168
+ 0,
169
+ 300
170
+ ],
171
+ "damping_ratio_limits": [
172
+ 0,
173
+ 10
174
+ ],
175
+ "position_limits": null,
176
+ "orientation_limits": null,
177
+ "uncouple_pos_ori": true,
178
+ "input_type": "delta",
179
+ "input_ref_frame": "base",
180
+ "interpolation": null,
181
+ "ramp_ratio": 0.2,
182
+ "gripper": {
183
+ "type": "GRIP"
184
+ }
185
+ },
186
+ "torso": {
187
+ "type": "JOINT_POSITION",
188
+ "interpolation": "null",
189
+ "kp": 2000
190
+ },
191
+ "base": {
192
+ "type": "JOINT_VELOCITY",
193
+ "interpolation": "null"
194
+ }
195
+ }
196
+ }
197
+ }
198
+ },
199
+ "env_info": {
200
+ "env_name": "DeliverBrewedCoffee",
201
+ "robots": "PandaOmron",
202
+ "layout_ids": -2,
203
+ "style_ids": -2,
204
+ "obj_instance_split": "pretrain",
205
+ "clutter_mode": 0,
206
+ "translucent_robot": true,
207
+ "layout_and_style_ids": null,
208
+ "controller_configs": {
209
+ "type": "HYBRID_MOBILE_BASE",
210
+ "composite_controller_specific_configs": {
211
+ "left_offset": [
212
+ 0.0,
213
+ 0.0,
214
+ 0.0
215
+ ],
216
+ "right_offset": [
217
+ -0.15,
218
+ 0.0,
219
+ 0.35
220
+ ],
221
+ "left2arm_transform": [
222
+ [
223
+ 1,
224
+ 0,
225
+ 0,
226
+ 0
227
+ ],
228
+ [
229
+ 0,
230
+ 1,
231
+ 0,
232
+ 0
233
+ ],
234
+ [
235
+ 0,
236
+ 0,
237
+ 1,
238
+ 0
239
+ ],
240
+ [
241
+ 0,
242
+ 0,
243
+ 0,
244
+ 1
245
+ ]
246
+ ],
247
+ "right2arm_transform": [
248
+ [
249
+ 0,
250
+ 0.7071068,
251
+ 0.7071068,
252
+ 0
253
+ ],
254
+ [
255
+ 1,
256
+ 0,
257
+ 0,
258
+ 0
259
+ ],
260
+ [
261
+ 0,
262
+ 0.7071068,
263
+ -0.7071068,
264
+ 0
265
+ ],
266
+ [
267
+ 0,
268
+ 0,
269
+ 0,
270
+ 1
271
+ ]
272
+ ],
273
+ "left2finger_transform": [
274
+ [
275
+ 1,
276
+ 0,
277
+ 0,
278
+ 0
279
+ ],
280
+ [
281
+ 0,
282
+ 1,
283
+ 0,
284
+ 0
285
+ ],
286
+ [
287
+ 0,
288
+ 0,
289
+ 1,
290
+ 0
291
+ ],
292
+ [
293
+ 0,
294
+ 0,
295
+ 0,
296
+ 1
297
+ ]
298
+ ],
299
+ "right2finger_transform": [
300
+ [
301
+ 1,
302
+ 0,
303
+ 0,
304
+ 0
305
+ ],
306
+ [
307
+ 0,
308
+ 1,
309
+ 0,
310
+ 0
311
+ ],
312
+ [
313
+ 0,
314
+ 0,
315
+ 1,
316
+ 0
317
+ ],
318
+ [
319
+ 0,
320
+ 0,
321
+ 0,
322
+ 1
323
+ ]
324
+ ],
325
+ "body_part_ordering": [
326
+ "right",
327
+ "right_gripper",
328
+ "base",
329
+ "torso"
330
+ ]
331
+ },
332
+ "body_parts": {
333
+ "right": {
334
+ "type": "OSC_POSE",
335
+ "input_max": 1,
336
+ "input_min": -1,
337
+ "output_max": [
338
+ 0.05,
339
+ 0.05,
340
+ 0.05,
341
+ 0.5,
342
+ 0.5,
343
+ 0.5
344
+ ],
345
+ "output_min": [
346
+ -0.05,
347
+ -0.05,
348
+ -0.05,
349
+ -0.5,
350
+ -0.5,
351
+ -0.5
352
+ ],
353
+ "kp": 150,
354
+ "damping_ratio": 1,
355
+ "impedance_mode": "fixed",
356
+ "kp_limits": [
357
+ 0,
358
+ 300
359
+ ],
360
+ "damping_ratio_limits": [
361
+ 0,
362
+ 10
363
+ ],
364
+ "position_limits": null,
365
+ "orientation_limits": null,
366
+ "uncouple_pos_ori": true,
367
+ "input_type": "delta",
368
+ "input_ref_frame": "base",
369
+ "interpolation": null,
370
+ "ramp_ratio": 0.2,
371
+ "gripper": {
372
+ "type": "GRIP"
373
+ }
374
+ },
375
+ "torso": {
376
+ "type": "JOINT_POSITION",
377
+ "interpolation": "null",
378
+ "kp": 2000
379
+ },
380
+ "base": {
381
+ "type": "JOINT_VELOCITY",
382
+ "interpolation": "null"
383
+ }
384
+ }
385
+ }
386
+ },
387
+ "mujoco_version": "3.3.1",
388
+ "robocasa_version": "0.5.1",
389
+ "robosuite_version": "1.5.2",
390
+ "time": "5:17:22",
391
+ "total": 50181
392
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000000/ep_meta.json ADDED
@@ -0,0 +1,529 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 33,
3
+ "style_id": 52,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_right_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.002252683809480489,
36
+ -0.16269906627929676,
37
+ -0.13447149320777887
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.24705742527000002,
55
+ 0.24545688741000002,
56
+ 0.02023132842
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.2264729023388599,
87
+ 1.1661
88
+ ],
89
+ "offset": [
90
+ 1.2867635488305698,
91
+ 2.0816681711721685e-17,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12272844370500001,
108
+ 0.12272844370500001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread_flat",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread_flat",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12272844370500001,
144
+ 0.12272844370500001
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "peach",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "peach",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_main_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_main_3.001_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_main_3.001_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "floor_1_room": {
203
+ "cls": "Floor"
204
+ },
205
+ "floor_1_backing_room": {
206
+ "cls": "Floor"
207
+ },
208
+ "floor_2.001_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_2.001_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "stool_1_room": {
215
+ "cls": "Stool"
216
+ },
217
+ "stool_2_room": {
218
+ "cls": "Stool"
219
+ },
220
+ "stool_3_room": {
221
+ "cls": "Stool"
222
+ },
223
+ "stool_4_room": {
224
+ "cls": "Stool"
225
+ },
226
+ "counter_2_right_group_1": {
227
+ "cls": "Counter"
228
+ },
229
+ "hingecabinet_1_right_group_1": {
230
+ "cls": "HingeCabinet"
231
+ },
232
+ "hingecabinet_2_right_group_1": {
233
+ "cls": "HingeCabinet"
234
+ },
235
+ "hingecabinet_3_right_group_1": {
236
+ "cls": "HingeCabinet"
237
+ },
238
+ "stack_1_right_group_1_base": {
239
+ "cls": "Box"
240
+ },
241
+ "stack_1_right_group_1_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "stack_1_right_group_1_2": {
245
+ "cls": "Drawer"
246
+ },
247
+ "stack_2_right_group_1_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_2_right_group_1_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "stack_2_right_group_1_2": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_3_right_group_1_base": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_3_right_group_1_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "stack_3_right_group_1_2": {
263
+ "cls": "Drawer"
264
+ },
265
+ "counter_1_right_group_1": {
266
+ "cls": "Counter"
267
+ },
268
+ "fridgefrenchdoor_right_group_1": {
269
+ "cls": "FridgeFrenchDoor"
270
+ },
271
+ "fridgefrenchdoor_housing_right_group_1": {
272
+ "cls": "HousingCabinet"
273
+ },
274
+ "hingecabinet_4_right_group_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "bottom_right_group_1_base": {
278
+ "cls": "Box"
279
+ },
280
+ "bottom_right_group_1_1": {
281
+ "cls": "Drawer"
282
+ },
283
+ "microwave_right_group_1": {
284
+ "cls": "Microwave"
285
+ },
286
+ "oven_cabinet_right_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "microwave_housing_right_group_1": {
290
+ "cls": "HousingCabinet"
291
+ },
292
+ "top_right_group_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "coffee_machine_right_group_1": {
296
+ "cls": "CoffeeMachine"
297
+ },
298
+ "toaster_right_group_1": {
299
+ "cls": "Toaster"
300
+ },
301
+ "hingecabinet_1_main_group_1": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "hingecabinet_2_main_group_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "singlecabinet_1_main_group_1": {
308
+ "cls": "SingleCabinet"
309
+ },
310
+ "singlecabinet_2_main_group_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "counter_1_main_group_1": {
314
+ "cls": "Counter"
315
+ },
316
+ "counter_2_main_group_1": {
317
+ "cls": "Counter"
318
+ },
319
+ "widestove_main_group_1": {
320
+ "cls": "Stove"
321
+ },
322
+ "widestove_hood_main_group_1": {
323
+ "cls": "Hood"
324
+ },
325
+ "stack_1_main_group_1_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_1_main_group_1_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "stack_1_main_group_1_2": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_4_main_group_1_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_4_main_group_1_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "stack_4_main_group_1_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_2_main_group_1_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_2_main_group_1_1": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_2_main_group_1_2": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_2_main_group_1_3": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_3_main_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_3_main_group_1_1": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_3_main_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_3_main_group_1_3": {
365
+ "cls": "Drawer"
366
+ },
367
+ "knife_block_main_group_1": {
368
+ "cls": "Accessory"
369
+ },
370
+ "paper_towel_main_group_1": {
371
+ "cls": "Accessory"
372
+ },
373
+ "toaster_oven_main_group_1": {
374
+ "cls": "ToasterOven"
375
+ },
376
+ "sink_island_group_1": {
377
+ "cls": "Sink"
378
+ },
379
+ "island_island_group_1": {
380
+ "cls": "Counter"
381
+ },
382
+ "stack_2_island_group_1_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_2_island_group_1_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "stack_2_island_group_1_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_1_island_group_1_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_1_island_group_1_1": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "stack_1_island_group_1_2": {
398
+ "cls": "Drawer"
399
+ },
400
+ "stack_3_island_group_1_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_3_island_group_1_1": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "stack_3_island_group_1_2": {
407
+ "cls": "PanelCabinet"
408
+ },
409
+ "stack_4_island_group_1_base": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_4_island_group_1_1": {
413
+ "cls": "SingleCabinet"
414
+ },
415
+ "stack_4_island_group_1_2": {
416
+ "cls": "Drawer"
417
+ },
418
+ "cube_1_island_group_1": {
419
+ "cls": "Box"
420
+ },
421
+ "cube_2_island_group_1": {
422
+ "cls": "Box"
423
+ },
424
+ "cube_3_island_group_1": {
425
+ "cls": "Box"
426
+ },
427
+ "dishwasher_1_island_group_1": {
428
+ "cls": "Dishwasher"
429
+ }
430
+ },
431
+ "gen_textures": {},
432
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
433
+ "fixture_refs": {
434
+ "stool": "stool_1_room",
435
+ "dining_counter": "island_island_group_1",
436
+ "coffee_machine": "coffee_machine_right_group_1"
437
+ },
438
+ "cam_configs": {
439
+ "robot0_agentview_center": {
440
+ "pos": [
441
+ -0.6,
442
+ 0.0,
443
+ 1.15
444
+ ],
445
+ "quat": [
446
+ 0.636945903301239,
447
+ 0.3325185477733612,
448
+ -0.3199238181114197,
449
+ -0.6175596117973328
450
+ ],
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_agentview_left": {
454
+ "pos": [
455
+ -0.5,
456
+ 0.35,
457
+ 1.05
458
+ ],
459
+ "quat": [
460
+ 0.55623853,
461
+ 0.29935253,
462
+ -0.37678665,
463
+ -0.6775092
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_agentview_right": {
471
+ "pos": [
472
+ -0.5,
473
+ -0.35,
474
+ 1.05
475
+ ],
476
+ "quat": [
477
+ 0.6775091886520386,
478
+ 0.3767866790294647,
479
+ -0.2993525564670563,
480
+ -0.55623859167099
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_frontview": {
488
+ "pos": [
489
+ -0.5,
490
+ 0,
491
+ 0.95
492
+ ],
493
+ "quat": [
494
+ 0.6088936924934387,
495
+ 0.3814677894115448,
496
+ -0.3673907518386841,
497
+ -0.5905545353889465
498
+ ],
499
+ "camera_attribs": {
500
+ "fovy": "60"
501
+ },
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_eye_in_hand": {
505
+ "pos": [
506
+ 0.05,
507
+ 0,
508
+ 0
509
+ ],
510
+ "quat": [
511
+ 0,
512
+ 0.707107,
513
+ 0.707107,
514
+ 0
515
+ ],
516
+ "parent_body": "robot0_right_hand"
517
+ }
518
+ },
519
+ "init_robot_base_pos": [
520
+ 5.830878986430032,
521
+ -2.299615014077239,
522
+ 0.0
523
+ ],
524
+ "init_robot_base_ori": [
525
+ 0.0,
526
+ 0.0,
527
+ 0.00030199704781619374
528
+ ]
529
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000001/ep_meta.json ADDED
@@ -0,0 +1,516 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 53,
3
+ "style_id": 45,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_front_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.009312929484310594,
36
+ -0.21214005935549288,
37
+ -0.13409819481712165
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "dining_dining_area_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.23125013257500002,
55
+ 0.23125020817500003,
56
+ 0.018714614625
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 0.5706180912724867,
87
+ 1.259164
88
+ ],
89
+ "offset": [
90
+ 0.9531629543637566,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11562506628750001,
108
+ 0.11562506628750001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "pancake",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "pancake",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes003/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11562506628750001,
144
+ 0.11562506628750001
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "banana",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1",
161
+ "group1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "banana",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_3/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_main_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_main_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_front_1_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_front_1_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_front_2_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_front_2_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_front_4_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_front_4_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "wall_front_3_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "wall_front_3_backing_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "floor_1_room": {
211
+ "cls": "Floor"
212
+ },
213
+ "floor_1_backing_room": {
214
+ "cls": "Floor"
215
+ },
216
+ "floor_2_room": {
217
+ "cls": "Floor"
218
+ },
219
+ "floor_2_backing_room": {
220
+ "cls": "Floor"
221
+ },
222
+ "wallaccessory_1_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "wallaccessory_2_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wallaccessory_3_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "wallaccessory_4_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "wallaccessory_5_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "window_group_1_room": {
238
+ "cls": "Window"
239
+ },
240
+ "window_group_2_room": {
241
+ "cls": "Window"
242
+ },
243
+ "stool_2_room": {
244
+ "cls": "Stool"
245
+ },
246
+ "stool_3_room": {
247
+ "cls": "Stool"
248
+ },
249
+ "stool_1_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "hingecabinet_3_main_group_1": {
253
+ "cls": "HingeCabinet"
254
+ },
255
+ "singlecabinet_1_main_group_1": {
256
+ "cls": "SingleCabinet"
257
+ },
258
+ "sink_main_group_1": {
259
+ "cls": "Sink"
260
+ },
261
+ "counter_1_main_group_1": {
262
+ "cls": "Counter"
263
+ },
264
+ "counter_2_main_group_1": {
265
+ "cls": "Counter"
266
+ },
267
+ "cube_2_main_group_1": {
268
+ "cls": "Box"
269
+ },
270
+ "cube_3_main_group_1": {
271
+ "cls": "Box"
272
+ },
273
+ "stack_1_main_group_1_base": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_1_main_group_1_1": {
277
+ "cls": "HingeCabinet"
278
+ },
279
+ "stack_1_main_group_1_2": {
280
+ "cls": "PanelCabinet"
281
+ },
282
+ "stack_2_main_group_1_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_2_main_group_1_1": {
286
+ "cls": "SingleCabinet"
287
+ },
288
+ "dishwasher_1_main_group_1": {
289
+ "cls": "Dishwasher"
290
+ },
291
+ "paper_towel_main_group_1": {
292
+ "cls": "Accessory"
293
+ },
294
+ "dining_dining_area_group_1": {
295
+ "cls": "Counter"
296
+ },
297
+ "stack_3_dining_area_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_3_dining_area_group_1_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_4_dining_area_group_1_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_4_dining_area_group_1_1": {
307
+ "cls": "Drawer"
308
+ },
309
+ "stack_4_dining_area_group_1_2": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_4_dining_area_group_1_3": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_5_dining_area_group_1_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_5_dining_area_group_1_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "stack_5_dining_area_group_1_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "cube_6_dining_area_group_1": {
325
+ "cls": "Box"
326
+ },
327
+ "cube_1_dining_area_group_1": {
328
+ "cls": "Box"
329
+ },
330
+ "cube_4_right_group_1": {
331
+ "cls": "Box"
332
+ },
333
+ "hingecabinet_1_right_group_1": {
334
+ "cls": "HingeCabinet"
335
+ },
336
+ "singlecabinet_2_right_group_1": {
337
+ "cls": "SingleCabinet"
338
+ },
339
+ "singlecabinet_3_right_group_1": {
340
+ "cls": "SingleCabinet"
341
+ },
342
+ "counter_4_right_group_1": {
343
+ "cls": "Counter"
344
+ },
345
+ "counter_5_right_group_1": {
346
+ "cls": "Counter"
347
+ },
348
+ "counter_corner_1_right_group_1": {
349
+ "cls": "Counter"
350
+ },
351
+ "stove_right_group_1": {
352
+ "cls": "Stove"
353
+ },
354
+ "microwave_right_group_1": {
355
+ "cls": "Microwave"
356
+ },
357
+ "micro_cab_right_group_1": {
358
+ "cls": "HingeCabinet"
359
+ },
360
+ "stack_6_right_group_1_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_6_right_group_1_1": {
364
+ "cls": "SingleCabinet"
365
+ },
366
+ "stack_6_right_group_1_2": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_7_right_group_1_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_7_right_group_1_1": {
373
+ "cls": "SingleCabinet"
374
+ },
375
+ "stack_7_right_group_1_2": {
376
+ "cls": "Drawer"
377
+ },
378
+ "stack_8_right_group_1_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_8_right_group_1_1": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "toaster_oven_right_group_1": {
385
+ "cls": "ToasterOven"
386
+ },
387
+ "toaster_right_group_1": {
388
+ "cls": "Toaster"
389
+ },
390
+ "hingecabinet_4_front_group_1": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "counter_3_front_group_1": {
394
+ "cls": "Counter"
395
+ },
396
+ "stack_9_front_group_1_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_9_front_group_1_1": {
400
+ "cls": "SingleCabinet"
401
+ },
402
+ "cube_1_front_group_1": {
403
+ "cls": "Box"
404
+ },
405
+ "fridgefrenchdoor_front_group_1": {
406
+ "cls": "FridgeFrenchDoor"
407
+ },
408
+ "fridgefrenchdoor_housing_front_group_1": {
409
+ "cls": "HousingCabinet"
410
+ },
411
+ "hingecabinet_2_front_group_1": {
412
+ "cls": "HingeCabinet"
413
+ },
414
+ "coffee_machine_front_group_1": {
415
+ "cls": "CoffeeMachine"
416
+ }
417
+ },
418
+ "gen_textures": {},
419
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
420
+ "fixture_refs": {
421
+ "stool": "stool_1_room",
422
+ "dining_counter": "dining_dining_area_group_1",
423
+ "coffee_machine": "coffee_machine_front_group_1"
424
+ },
425
+ "cam_configs": {
426
+ "robot0_agentview_center": {
427
+ "pos": [
428
+ -0.6,
429
+ 0.0,
430
+ 1.15
431
+ ],
432
+ "quat": [
433
+ 0.636945903301239,
434
+ 0.3325185477733612,
435
+ -0.3199238181114197,
436
+ -0.6175596117973328
437
+ ],
438
+ "parent_body": "mobilebase0_support"
439
+ },
440
+ "robot0_agentview_left": {
441
+ "pos": [
442
+ -0.5,
443
+ 0.35,
444
+ 1.05
445
+ ],
446
+ "quat": [
447
+ 0.55623853,
448
+ 0.29935253,
449
+ -0.37678665,
450
+ -0.6775092
451
+ ],
452
+ "camera_attribs": {
453
+ "fovy": "60"
454
+ },
455
+ "parent_body": "mobilebase0_support"
456
+ },
457
+ "robot0_agentview_right": {
458
+ "pos": [
459
+ -0.5,
460
+ -0.35,
461
+ 1.05
462
+ ],
463
+ "quat": [
464
+ 0.6775091886520386,
465
+ 0.3767866790294647,
466
+ -0.2993525564670563,
467
+ -0.55623859167099
468
+ ],
469
+ "camera_attribs": {
470
+ "fovy": "60"
471
+ },
472
+ "parent_body": "mobilebase0_support"
473
+ },
474
+ "robot0_frontview": {
475
+ "pos": [
476
+ -0.5,
477
+ 0,
478
+ 0.95
479
+ ],
480
+ "quat": [
481
+ 0.6088936924934387,
482
+ 0.3814677894115448,
483
+ -0.3673907518386841,
484
+ -0.5905545353889465
485
+ ],
486
+ "camera_attribs": {
487
+ "fovy": "60"
488
+ },
489
+ "parent_body": "mobilebase0_support"
490
+ },
491
+ "robot0_eye_in_hand": {
492
+ "pos": [
493
+ 0.05,
494
+ 0,
495
+ 0
496
+ ],
497
+ "quat": [
498
+ 0,
499
+ 0.707107,
500
+ 0.707107,
501
+ 0
502
+ ],
503
+ "parent_body": "robot0_right_hand"
504
+ }
505
+ },
506
+ "init_robot_base_pos": [
507
+ 4.87056042986724,
508
+ -4.835611125594923,
509
+ 0.0
510
+ ],
511
+ "init_robot_base_ori": [
512
+ 0.0,
513
+ 0.0,
514
+ 4.712234187123444
515
+ ]
516
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000002/ep_meta.json ADDED
@@ -0,0 +1,499 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 60,
3
+ "style_id": 31,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_3/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.010408497632004096,
36
+ -0.190555572032075,
37
+ -0.1499066884696053
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "counter_5_left_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.23187298679999999,
55
+ 0.231873067125,
56
+ 0.014080967775000001
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.719407894630542,
87
+ 0.394049
88
+ ],
89
+ "offset": [
90
+ -0.915365052684729,
91
+ 0.0,
92
+ 0.591655
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11593649339999999,
108
+ 0.11593649339999999
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread003/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11593649339999999,
144
+ 0.11593649339999999
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "tangerine",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "tangerine",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_main_2_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "floor_1_room": {
200
+ "cls": "Floor"
201
+ },
202
+ "floor_1_backing_room": {
203
+ "cls": "Floor"
204
+ },
205
+ "wallaccessory_01_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "lightswitch_01_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "wallaccessory_04_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wallaccessory_12_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wallaccessory_06_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wallaccessory_07_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wallaccessory_08_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "wallaccessory_09_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "wallaccessory_10_room": {
230
+ "cls": "WallAccessory"
231
+ },
232
+ "stool_1_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_2_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "counter_corner_1_main_group_1": {
239
+ "cls": "Counter"
240
+ },
241
+ "counter_2_main_group_1": {
242
+ "cls": "Counter"
243
+ },
244
+ "counter_11_main_group_1": {
245
+ "cls": "Counter"
246
+ },
247
+ "counter_3_main_group_1": {
248
+ "cls": "Counter"
249
+ },
250
+ "stove_main_group_1": {
251
+ "cls": "Stove"
252
+ },
253
+ "microwave_main_group_1": {
254
+ "cls": "Microwave"
255
+ },
256
+ "micro_cab_main_group_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "hingecabinet_01_main_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "hingecabinet_02_main_group_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "cube_3_main_group_1": {
266
+ "cls": "Box"
267
+ },
268
+ "singlecabinet_01_main_group_1": {
269
+ "cls": "SingleCabinet"
270
+ },
271
+ "stack_6_main_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_6_main_group_1_1": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_6_main_group_1_2": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_6_main_group_1_3": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_5_main_group_1_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_5_main_group_1_1": {
287
+ "cls": "SingleCabinet"
288
+ },
289
+ "cube_11_main_group_1": {
290
+ "cls": "Box"
291
+ },
292
+ "cube_12_main_group_1": {
293
+ "cls": "Box"
294
+ },
295
+ "coffee_machine_main_group_1": {
296
+ "cls": "CoffeeMachine"
297
+ },
298
+ "paper_towel_main_group_1": {
299
+ "cls": "Accessory"
300
+ },
301
+ "plant_main_group_1": {
302
+ "cls": "Accessory"
303
+ },
304
+ "fridgebottomfreezer_right_group_1": {
305
+ "cls": "FridgeBottomFreezer"
306
+ },
307
+ "fridgebottomfreezer_housing_right_group_1": {
308
+ "cls": "HousingCabinet"
309
+ },
310
+ "hingecabinet_05_right_group_1": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "counter_6_right_group_1": {
314
+ "cls": "Counter"
315
+ },
316
+ "hingecabinet_04_right_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "hingecabinet_06_right_group_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "stack_7_right_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_7_right_group_1_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "stack_7_right_group_1_2": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_8_right_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_8_right_group_1_1": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "cube_13_right_group_1": {
338
+ "cls": "Box"
339
+ },
340
+ "toaster_oven_right_group_1": {
341
+ "cls": "ToasterOven"
342
+ },
343
+ "sink_left_group_1": {
344
+ "cls": "Sink"
345
+ },
346
+ "counter_1_left_group_1": {
347
+ "cls": "Counter"
348
+ },
349
+ "counter_5_left_group_1": {
350
+ "cls": "Counter"
351
+ },
352
+ "cube_1_left_group_1": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_1_left_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_1_left_group_1_1": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_1_left_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_4_left_group_1_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_4_left_group_1_1": {
368
+ "cls": "SingleCabinet"
369
+ },
370
+ "stack_2_left_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_2_left_group_1_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_2_left_group_1_2": {
377
+ "cls": "PanelCabinet"
378
+ },
379
+ "stack_3_left_group_1_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_3_left_group_1_1": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_3_left_group_1_2": {
386
+ "cls": "Drawer"
387
+ },
388
+ "cube_4_left_group_1": {
389
+ "cls": "Box"
390
+ },
391
+ "cube_2_left_group_1": {
392
+ "cls": "Box"
393
+ },
394
+ "dishwasher_1_left_group_1": {
395
+ "cls": "Dishwasher"
396
+ },
397
+ "toaster_left_group_1": {
398
+ "cls": "Toaster"
399
+ }
400
+ },
401
+ "gen_textures": {},
402
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
403
+ "fixture_refs": {
404
+ "stool": "stool_2_room",
405
+ "dining_counter": "counter_5_left_group_1",
406
+ "coffee_machine": "coffee_machine_main_group_1"
407
+ },
408
+ "cam_configs": {
409
+ "robot0_agentview_center": {
410
+ "pos": [
411
+ -0.6,
412
+ 0.0,
413
+ 1.15
414
+ ],
415
+ "quat": [
416
+ 0.636945903301239,
417
+ 0.3325185477733612,
418
+ -0.3199238181114197,
419
+ -0.6175596117973328
420
+ ],
421
+ "parent_body": "mobilebase0_support"
422
+ },
423
+ "robot0_agentview_left": {
424
+ "pos": [
425
+ -0.5,
426
+ 0.35,
427
+ 1.05
428
+ ],
429
+ "quat": [
430
+ 0.55623853,
431
+ 0.29935253,
432
+ -0.37678665,
433
+ -0.6775092
434
+ ],
435
+ "camera_attribs": {
436
+ "fovy": "60"
437
+ },
438
+ "parent_body": "mobilebase0_support"
439
+ },
440
+ "robot0_agentview_right": {
441
+ "pos": [
442
+ -0.5,
443
+ -0.35,
444
+ 1.05
445
+ ],
446
+ "quat": [
447
+ 0.6775091886520386,
448
+ 0.3767866790294647,
449
+ -0.2993525564670563,
450
+ -0.55623859167099
451
+ ],
452
+ "camera_attribs": {
453
+ "fovy": "60"
454
+ },
455
+ "parent_body": "mobilebase0_support"
456
+ },
457
+ "robot0_frontview": {
458
+ "pos": [
459
+ -0.5,
460
+ 0,
461
+ 0.95
462
+ ],
463
+ "quat": [
464
+ 0.6088936924934387,
465
+ 0.3814677894115448,
466
+ -0.3673907518386841,
467
+ -0.5905545353889465
468
+ ],
469
+ "camera_attribs": {
470
+ "fovy": "60"
471
+ },
472
+ "parent_body": "mobilebase0_support"
473
+ },
474
+ "robot0_eye_in_hand": {
475
+ "pos": [
476
+ 0.05,
477
+ 0,
478
+ 0
479
+ ],
480
+ "quat": [
481
+ 0,
482
+ 0.707107,
483
+ 0.707107,
484
+ 0
485
+ ],
486
+ "parent_body": "robot0_right_hand"
487
+ }
488
+ },
489
+ "init_robot_base_pos": [
490
+ 2.401164128139057,
491
+ -0.7846085182201209,
492
+ 0.0
493
+ ],
494
+ "init_robot_base_ori": [
495
+ 0.0,
496
+ 0.0,
497
+ 1.5707963267948966
498
+ ]
499
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000003/ep_meta.json ADDED
@@ -0,0 +1,607 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 12,
3
+ "style_id": 13,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_16/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 2.2641872490665984e-09,
36
+ -0.191745598501946,
37
+ -0.12257810296689056
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_4_room",
53
+ "min_size": [
54
+ 0.244743326685,
55
+ 0.24474403597500002,
56
+ 0.023217144615000004
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.368999903407052,
87
+ 1.475
88
+ ],
89
+ "offset": [
90
+ 1.189000048296474,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1223716633425,
108
+ 0.1223716633425
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1223716633425,
144
+ 0.1223716633425
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "pear",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "pear",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_3_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_3_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "floor_1_room": {
203
+ "cls": "Floor"
204
+ },
205
+ "floor_1_backing_room": {
206
+ "cls": "Floor"
207
+ },
208
+ "wall_accessory_1_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "wall_accessory_2_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wall_accessory_3_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "light_switch_1_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wall_accessory_4_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wall_accessory_5_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "window_group_room": {
227
+ "cls": "Window"
228
+ },
229
+ "stool_1_room": {
230
+ "cls": "Stool"
231
+ },
232
+ "stool_2_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_3_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "stool_4_room": {
239
+ "cls": "Stool"
240
+ },
241
+ "stool_5_room": {
242
+ "cls": "Stool"
243
+ },
244
+ "stool_6_room": {
245
+ "cls": "Stool"
246
+ },
247
+ "counter_corner_1_main_group": {
248
+ "cls": "Counter"
249
+ },
250
+ "sink_1_main_group": {
251
+ "cls": "Sink"
252
+ },
253
+ "counter_1_main_group": {
254
+ "cls": "Counter"
255
+ },
256
+ "counter_corner_2_main_group": {
257
+ "cls": "Counter"
258
+ },
259
+ "box_1_main_group": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_1_main_group_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_1_main_group_1": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_1_main_group_2": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_1_main_group_3": {
272
+ "cls": "Drawer"
273
+ },
274
+ "stack_2_main_group_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_2_main_group_1": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "stack_2_main_group_2": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_3_main_group_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_3_main_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "dishwasher_1_main_group": {
290
+ "cls": "Dishwasher"
291
+ },
292
+ "stack_4_main_group_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_4_main_group_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "stack_4_main_group_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_5_main_group_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_5_main_group_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "box_2_main_group": {
308
+ "cls": "Box"
309
+ },
310
+ "top_corner_1_main_group": {
311
+ "cls": "Box"
312
+ },
313
+ "cab_1_main_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_2_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "top_corner_2_main_group": {
320
+ "cls": "Box"
321
+ },
322
+ "paper_towel_main_group": {
323
+ "cls": "Accessory"
324
+ },
325
+ "coffee_machine_main_group": {
326
+ "cls": "CoffeeMachine"
327
+ },
328
+ "toaster_main_group": {
329
+ "cls": "Toaster"
330
+ },
331
+ "knife_block_main_group": {
332
+ "cls": "Accessory"
333
+ },
334
+ "stovetop_left_group": {
335
+ "cls": "Stovetop"
336
+ },
337
+ "counter_1_left_group": {
338
+ "cls": "Counter"
339
+ },
340
+ "box_1_left_group": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_1_left_group_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_1_left_group_1": {
347
+ "cls": "SingleCabinet"
348
+ },
349
+ "stack_2_left_group_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_2_left_group_1": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_left_group_2": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_2_left_group_3": {
359
+ "cls": "PanelCabinet"
360
+ },
361
+ "box_3_left_group": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_3_left_group_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_3_left_group_1": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_3_left_group_2": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_3_left_group_3": {
374
+ "cls": "Drawer"
375
+ },
376
+ "box_2_left_group": {
377
+ "cls": "Box"
378
+ },
379
+ "fridge_1_left_group": {
380
+ "cls": "FridgeFrenchDoor"
381
+ },
382
+ "fridge_1_housing_left_group": {
383
+ "cls": "HousingCabinet"
384
+ },
385
+ "hood_left_group": {
386
+ "cls": "Hood"
387
+ },
388
+ "cab_1_left_group": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "cab_2_left_group": {
392
+ "cls": "SingleCabinet"
393
+ },
394
+ "cab_3_left_group": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "toaster_oven_left_group": {
398
+ "cls": "ToasterOven"
399
+ },
400
+ "bottom_right_group_1_base": {
401
+ "cls": "Box"
402
+ },
403
+ "bottom_right_group_1_1": {
404
+ "cls": "Drawer"
405
+ },
406
+ "oven_right_group_1": {
407
+ "cls": "Oven"
408
+ },
409
+ "oven_housing_right_group_1": {
410
+ "cls": "HousingCabinet"
411
+ },
412
+ "microwave_right_group_1": {
413
+ "cls": "Microwave"
414
+ },
415
+ "microwave_housing_right_group_1": {
416
+ "cls": "HousingCabinet"
417
+ },
418
+ "top_right_group_1": {
419
+ "cls": "HingeCabinet"
420
+ },
421
+ "stack_1_right_group_1_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_1_right_group_1_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "stack_2_right_group_1_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_2_right_group_1_1": {
431
+ "cls": "PanelCabinet"
432
+ },
433
+ "box_right_group_1": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_3_right_group_1_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_3_right_group_1_1": {
440
+ "cls": "HingeCabinet"
441
+ },
442
+ "counter_1_right_group_1": {
443
+ "cls": "Counter"
444
+ },
445
+ "cab_1_right_group_1": {
446
+ "cls": "HingeCabinet"
447
+ },
448
+ "cab_2_right_group_1": {
449
+ "cls": "SingleCabinet"
450
+ },
451
+ "cab_3_right_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "island_island_group": {
455
+ "cls": "Counter"
456
+ },
457
+ "panel_stack_1_island_group_base": {
458
+ "cls": "Box"
459
+ },
460
+ "panel_stack_1_island_group_1": {
461
+ "cls": "PanelCabinet"
462
+ },
463
+ "stack_1_island_group_base": {
464
+ "cls": "Box"
465
+ },
466
+ "stack_1_island_group_1": {
467
+ "cls": "HingeCabinet"
468
+ },
469
+ "stack_1_island_group_2": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_2_island_group_base": {
473
+ "cls": "Box"
474
+ },
475
+ "stack_2_island_group_1": {
476
+ "cls": "HingeCabinet"
477
+ },
478
+ "stack_2_island_group_2": {
479
+ "cls": "Drawer"
480
+ },
481
+ "stack_3_island_group_base": {
482
+ "cls": "Box"
483
+ },
484
+ "stack_3_island_group_1": {
485
+ "cls": "HingeCabinet"
486
+ },
487
+ "stack_3_island_group_2": {
488
+ "cls": "Drawer"
489
+ },
490
+ "stack_4_island_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_4_island_group_1": {
494
+ "cls": "HingeCabinet"
495
+ },
496
+ "stack_4_island_group_2": {
497
+ "cls": "Drawer"
498
+ },
499
+ "panel_stack_2_island_group_base": {
500
+ "cls": "Box"
501
+ },
502
+ "panel_stack_2_island_group_1": {
503
+ "cls": "PanelCabinet"
504
+ },
505
+ "box_1_island_group": {
506
+ "cls": "Box"
507
+ }
508
+ },
509
+ "gen_textures": {},
510
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
511
+ "fixture_refs": {
512
+ "stool": "stool_4_room",
513
+ "dining_counter": "island_island_group",
514
+ "coffee_machine": "coffee_machine_main_group"
515
+ },
516
+ "cam_configs": {
517
+ "robot0_agentview_center": {
518
+ "pos": [
519
+ -0.6,
520
+ 0.0,
521
+ 1.15
522
+ ],
523
+ "quat": [
524
+ 0.636945903301239,
525
+ 0.3325185477733612,
526
+ -0.3199238181114197,
527
+ -0.6175596117973328
528
+ ],
529
+ "parent_body": "mobilebase0_support"
530
+ },
531
+ "robot0_agentview_left": {
532
+ "pos": [
533
+ -0.5,
534
+ 0.35,
535
+ 1.05
536
+ ],
537
+ "quat": [
538
+ 0.55623853,
539
+ 0.29935253,
540
+ -0.37678665,
541
+ -0.6775092
542
+ ],
543
+ "camera_attribs": {
544
+ "fovy": "60"
545
+ },
546
+ "parent_body": "mobilebase0_support"
547
+ },
548
+ "robot0_agentview_right": {
549
+ "pos": [
550
+ -0.5,
551
+ -0.35,
552
+ 1.05
553
+ ],
554
+ "quat": [
555
+ 0.6775091886520386,
556
+ 0.3767866790294647,
557
+ -0.2993525564670563,
558
+ -0.55623859167099
559
+ ],
560
+ "camera_attribs": {
561
+ "fovy": "60"
562
+ },
563
+ "parent_body": "mobilebase0_support"
564
+ },
565
+ "robot0_frontview": {
566
+ "pos": [
567
+ -0.5,
568
+ 0,
569
+ 0.95
570
+ ],
571
+ "quat": [
572
+ 0.6088936924934387,
573
+ 0.3814677894115448,
574
+ -0.3673907518386841,
575
+ -0.5905545353889465
576
+ ],
577
+ "camera_attribs": {
578
+ "fovy": "60"
579
+ },
580
+ "parent_body": "mobilebase0_support"
581
+ },
582
+ "robot0_eye_in_hand": {
583
+ "pos": [
584
+ 0.05,
585
+ 0,
586
+ 0
587
+ ],
588
+ "quat": [
589
+ 0,
590
+ 0.707107,
591
+ 0.707107,
592
+ 0
593
+ ],
594
+ "parent_body": "robot0_right_hand"
595
+ }
596
+ },
597
+ "init_robot_base_pos": [
598
+ 4.17662081269965,
599
+ -0.8870684198438381,
600
+ 0.0
601
+ ],
602
+ "init_robot_base_ori": [
603
+ 0.0,
604
+ 0.0,
605
+ 1.5707963267948966
606
+ ]
607
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000004/ep_meta.json ADDED
@@ -0,0 +1,540 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 28,
3
+ "style_id": 17,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_14/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.008366496142723084,
36
+ -0.21506479061786385,
37
+ -0.09137394481392358
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.245914494345,
55
+ 0.24590248636500003,
56
+ 0.033029782155
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 3.470999955589244,
87
+ 0.406
88
+ ],
89
+ "offset": [
90
+ 0.133000022205378,
91
+ 0.0,
92
+ 0.514
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12295124318250002,
108
+ 0.12295124318250002
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "waffle",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "waffle",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12295124318250002,
144
+ 0.12295124318250002
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "apple",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1",
161
+ "group1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "apple",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_15/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_left_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_left_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_right_3_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_right_3_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_left_3_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_left_3_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "wall_left_2_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "wall_left_2_backing_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_right_2_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_right_2_backing_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "floor_1_room": {
217
+ "cls": "Floor"
218
+ },
219
+ "floor_1_backing_room": {
220
+ "cls": "Floor"
221
+ },
222
+ "wall_accessory_1_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "wall_accessory_2_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "light_switch_1_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "window_group_room": {
232
+ "cls": "Window"
233
+ },
234
+ "stool_1_room": {
235
+ "cls": "Stool"
236
+ },
237
+ "stool_2_room": {
238
+ "cls": "Stool"
239
+ },
240
+ "stool_3_room": {
241
+ "cls": "Stool"
242
+ },
243
+ "stool_4_room": {
244
+ "cls": "Stool"
245
+ },
246
+ "bottom_main_group_base": {
247
+ "cls": "Box"
248
+ },
249
+ "bottom_main_group_1": {
250
+ "cls": "HingeCabinet"
251
+ },
252
+ "microwave_main_group": {
253
+ "cls": "Microwave"
254
+ },
255
+ "microwave_housing_main_group": {
256
+ "cls": "HousingCabinet"
257
+ },
258
+ "top_main_group": {
259
+ "cls": "HingeCabinet"
260
+ },
261
+ "counter_1_main_group": {
262
+ "cls": "Counter"
263
+ },
264
+ "sink_main_group": {
265
+ "cls": "Sink"
266
+ },
267
+ "counter_2_main_group": {
268
+ "cls": "Counter"
269
+ },
270
+ "stack_1_main_group_base": {
271
+ "cls": "Box"
272
+ },
273
+ "stack_1_main_group_1": {
274
+ "cls": "SingleCabinet"
275
+ },
276
+ "stack_1_main_group_2": {
277
+ "cls": "Drawer"
278
+ },
279
+ "stack_2_main_group_base": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_2_main_group_1": {
283
+ "cls": "SingleCabinet"
284
+ },
285
+ "stack_2_main_group_2": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_3_main_group_base": {
289
+ "cls": "Box"
290
+ },
291
+ "stack_3_main_group_1": {
292
+ "cls": "SingleCabinet"
293
+ },
294
+ "stack_3_main_group_2": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_4_main_group_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_4_main_group_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_4_main_group_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_5_main_group_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_5_main_group_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "oven_main_group": {
313
+ "cls": "Oven"
314
+ },
315
+ "stack_6_main_group_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_6_main_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "stack_6_main_group_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_7_main_group_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_7_main_group_1": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_7_main_group_2": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "stack_7_main_group_3": {
334
+ "cls": "SingleCabinet"
335
+ },
336
+ "cab_1_main_group": {
337
+ "cls": "SingleCabinet"
338
+ },
339
+ "cab_2_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "cab_3_main_group": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "coffee_machine_main_group": {
346
+ "cls": "CoffeeMachine"
347
+ },
348
+ "toaster_main_group": {
349
+ "cls": "Toaster"
350
+ },
351
+ "toaster_oven_main_group": {
352
+ "cls": "ToasterOven"
353
+ },
354
+ "paper_towel_main_group": {
355
+ "cls": "Accessory"
356
+ },
357
+ "fridge_right_group": {
358
+ "cls": "FridgeBottomFreezer"
359
+ },
360
+ "fridge_housing_right_group": {
361
+ "cls": "HousingCabinet"
362
+ },
363
+ "fridge_top_right_group": {
364
+ "cls": "HingeCabinet"
365
+ },
366
+ "stovetop_island_group": {
367
+ "cls": "Stovetop"
368
+ },
369
+ "counter_1_island_group": {
370
+ "cls": "Counter"
371
+ },
372
+ "island_island_group": {
373
+ "cls": "Counter"
374
+ },
375
+ "cube_island_group": {
376
+ "cls": "Box"
377
+ },
378
+ "panel_cab_1_island_group_base": {
379
+ "cls": "Box"
380
+ },
381
+ "panel_cab_1_island_group_1": {
382
+ "cls": "PanelCabinet"
383
+ },
384
+ "stack_1_island_group_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_1_island_group_1": {
388
+ "cls": "SingleCabinet"
389
+ },
390
+ "stack_1_island_group_2": {
391
+ "cls": "Drawer"
392
+ },
393
+ "dishwasher_island_group": {
394
+ "cls": "Dishwasher"
395
+ },
396
+ "stack_2_island_group_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_2_island_group_1": {
400
+ "cls": "HingeCabinet"
401
+ },
402
+ "stack_3_island_group_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_3_island_group_1": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_3_island_group_2": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_3_island_group_3": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_4_island_group_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_4_island_group_1": {
418
+ "cls": "Drawer"
419
+ },
420
+ "stack_4_island_group_2": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_4_island_group_3": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_5_island_group_base": {
427
+ "cls": "Box"
428
+ },
429
+ "stack_5_island_group_1": {
430
+ "cls": "SingleCabinet"
431
+ },
432
+ "stack_5_island_group_2": {
433
+ "cls": "Drawer"
434
+ },
435
+ "panel_cab_2_island_group_base": {
436
+ "cls": "Box"
437
+ },
438
+ "panel_cab_2_island_group_1": {
439
+ "cls": "PanelCabinet"
440
+ }
441
+ },
442
+ "gen_textures": {},
443
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
444
+ "fixture_refs": {
445
+ "stool": "stool_2_room",
446
+ "dining_counter": "island_island_group",
447
+ "coffee_machine": "coffee_machine_main_group"
448
+ },
449
+ "cam_configs": {
450
+ "robot0_agentview_center": {
451
+ "pos": [
452
+ -0.6,
453
+ 0.0,
454
+ 1.15
455
+ ],
456
+ "quat": [
457
+ 0.636945903301239,
458
+ 0.3325185477733612,
459
+ -0.3199238181114197,
460
+ -0.6175596117973328
461
+ ],
462
+ "parent_body": "mobilebase0_support"
463
+ },
464
+ "robot0_agentview_left": {
465
+ "pos": [
466
+ -0.5,
467
+ 0.35,
468
+ 1.05
469
+ ],
470
+ "quat": [
471
+ 0.55623853,
472
+ 0.29935253,
473
+ -0.37678665,
474
+ -0.6775092
475
+ ],
476
+ "camera_attribs": {
477
+ "fovy": "60"
478
+ },
479
+ "parent_body": "mobilebase0_support"
480
+ },
481
+ "robot0_agentview_right": {
482
+ "pos": [
483
+ -0.5,
484
+ -0.35,
485
+ 1.05
486
+ ],
487
+ "quat": [
488
+ 0.6775091886520386,
489
+ 0.3767866790294647,
490
+ -0.2993525564670563,
491
+ -0.55623859167099
492
+ ],
493
+ "camera_attribs": {
494
+ "fovy": "60"
495
+ },
496
+ "parent_body": "mobilebase0_support"
497
+ },
498
+ "robot0_frontview": {
499
+ "pos": [
500
+ -0.5,
501
+ 0,
502
+ 0.95
503
+ ],
504
+ "quat": [
505
+ 0.6088936924934387,
506
+ 0.3814677894115448,
507
+ -0.3673907518386841,
508
+ -0.5905545353889465
509
+ ],
510
+ "camera_attribs": {
511
+ "fovy": "60"
512
+ },
513
+ "parent_body": "mobilebase0_support"
514
+ },
515
+ "robot0_eye_in_hand": {
516
+ "pos": [
517
+ 0.05,
518
+ 0,
519
+ 0
520
+ ],
521
+ "quat": [
522
+ 0,
523
+ 0.707107,
524
+ 0.707107,
525
+ 0
526
+ ],
527
+ "parent_body": "robot0_right_hand"
528
+ }
529
+ },
530
+ "init_robot_base_pos": [
531
+ 2.000809518501243,
532
+ -0.8221193847812951,
533
+ 0.0
534
+ ],
535
+ "init_robot_base_ori": [
536
+ 0.0,
537
+ 0.0,
538
+ 1.5707963267948966
539
+ ]
540
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000005/ep_meta.json ADDED
@@ -0,0 +1,526 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 26,
3
+ "style_id": 31,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_right_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_3/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.010408497632004096,
36
+ -0.190555572032075,
37
+ -0.1499066884696053
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.23187298679999999,
55
+ 0.231873067125,
56
+ 0.014080967775000001
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.666000004720821,
87
+ 0.6
88
+ ],
89
+ "offset": [
90
+ -0.1609999976395895,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11593649339999999,
108
+ 0.11593649339999999
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bagel",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bagel",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_4/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11593649339999999,
144
+ 0.11593649339999999
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "kiwi",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "kiwi",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_3_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_3_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_2_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_2_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_front_1_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_front_1_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "floor_1_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_1_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "wall_accessory_1_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "light_switch_1_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wall_accessory_2_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "light_switch_2_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "wall_accessory_3_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "light_switch_3_room": {
230
+ "cls": "WallAccessory"
231
+ },
232
+ "light_switch_4_room": {
233
+ "cls": "WallAccessory"
234
+ },
235
+ "window_group_1_room": {
236
+ "cls": "Window"
237
+ },
238
+ "window_group_2_room": {
239
+ "cls": "Window"
240
+ },
241
+ "stool_1_room": {
242
+ "cls": "Stool"
243
+ },
244
+ "stool_2_room": {
245
+ "cls": "Stool"
246
+ },
247
+ "stool_3_room": {
248
+ "cls": "Stool"
249
+ },
250
+ "counter_1_main_group": {
251
+ "cls": "Counter"
252
+ },
253
+ "stove_main_group": {
254
+ "cls": "Stove"
255
+ },
256
+ "counter_2_main_group": {
257
+ "cls": "Counter"
258
+ },
259
+ "stack_1_main_group_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_1_main_group_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "stack_2_main_group_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_2_main_group_1": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_2_main_group_2": {
272
+ "cls": "Drawer"
273
+ },
274
+ "stack_2_main_group_3": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_3_main_group_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_3_main_group_1": {
281
+ "cls": "HingeCabinet"
282
+ },
283
+ "stack_3_main_group_2": {
284
+ "cls": "Drawer"
285
+ },
286
+ "fridge_main_group": {
287
+ "cls": "FridgeFrenchDoor"
288
+ },
289
+ "fridge_housing_main_group": {
290
+ "cls": "HousingCabinet"
291
+ },
292
+ "stack_4_main_group_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_4_main_group_1": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_4_main_group_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_4_main_group_3": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "stack_4_main_group_4": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "cab_1_main_group": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "microwave_main_group": {
311
+ "cls": "Microwave"
312
+ },
313
+ "cab_2_main_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_3_main_group": {
317
+ "cls": "OpenCabinet"
318
+ },
319
+ "toaster_oven_main_group": {
320
+ "cls": "ToasterOven"
321
+ },
322
+ "sink_1_front_group": {
323
+ "cls": "Sink"
324
+ },
325
+ "counter_1_front_group": {
326
+ "cls": "Counter"
327
+ },
328
+ "box_front_group": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_1_front_group_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_1_front_group_1": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "dishwasher_front_group": {
338
+ "cls": "Dishwasher"
339
+ },
340
+ "stack_2_front_group_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_2_front_group_1": {
344
+ "cls": "SingleCabinet"
345
+ },
346
+ "stack_2_front_group_2": {
347
+ "cls": "Drawer"
348
+ },
349
+ "cab_1_front_group": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "counter_corner_right_group": {
353
+ "cls": "Counter"
354
+ },
355
+ "counter_1_right_group": {
356
+ "cls": "Counter"
357
+ },
358
+ "box_right_group": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_right_group_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_1_right_group_1": {
365
+ "cls": "SingleCabinet"
366
+ },
367
+ "stack_1_right_group_2": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_2_right_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_2_right_group_1": {
374
+ "cls": "SingleCabinet"
375
+ },
376
+ "stack_2_right_group_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_3_right_group_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_3_right_group_1": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_3_right_group_2": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_3_right_group_3": {
389
+ "cls": "Drawer"
390
+ },
391
+ "cab_1_right_group": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "cab_2_right_group": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "coffee_machine_right_group": {
398
+ "cls": "CoffeeMachine"
399
+ },
400
+ "toaster_right_group": {
401
+ "cls": "Toaster"
402
+ },
403
+ "paper_towel_right_group": {
404
+ "cls": "Accessory"
405
+ },
406
+ "island_island_group": {
407
+ "cls": "Counter"
408
+ },
409
+ "stack_1_island_group_base": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_1_island_group_1": {
413
+ "cls": "SingleCabinet"
414
+ },
415
+ "stack_2_island_group_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_2_island_group_1": {
419
+ "cls": "HingeCabinet"
420
+ },
421
+ "box_1_island_group": {
422
+ "cls": "Box"
423
+ },
424
+ "box_2_island_group": {
425
+ "cls": "Box"
426
+ }
427
+ },
428
+ "gen_textures": {},
429
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
430
+ "fixture_refs": {
431
+ "stool": "stool_2_room",
432
+ "dining_counter": "island_island_group",
433
+ "coffee_machine": "coffee_machine_right_group"
434
+ },
435
+ "cam_configs": {
436
+ "robot0_agentview_center": {
437
+ "pos": [
438
+ -0.6,
439
+ 0.0,
440
+ 1.15
441
+ ],
442
+ "quat": [
443
+ 0.636945903301239,
444
+ 0.3325185477733612,
445
+ -0.3199238181114197,
446
+ -0.6175596117973328
447
+ ],
448
+ "parent_body": "mobilebase0_support"
449
+ },
450
+ "robot0_agentview_left": {
451
+ "pos": [
452
+ -0.5,
453
+ 0.35,
454
+ 1.05
455
+ ],
456
+ "quat": [
457
+ 0.55623853,
458
+ 0.29935253,
459
+ -0.37678665,
460
+ -0.6775092
461
+ ],
462
+ "camera_attribs": {
463
+ "fovy": "60"
464
+ },
465
+ "parent_body": "mobilebase0_support"
466
+ },
467
+ "robot0_agentview_right": {
468
+ "pos": [
469
+ -0.5,
470
+ -0.35,
471
+ 1.05
472
+ ],
473
+ "quat": [
474
+ 0.6775091886520386,
475
+ 0.3767866790294647,
476
+ -0.2993525564670563,
477
+ -0.55623859167099
478
+ ],
479
+ "camera_attribs": {
480
+ "fovy": "60"
481
+ },
482
+ "parent_body": "mobilebase0_support"
483
+ },
484
+ "robot0_frontview": {
485
+ "pos": [
486
+ -0.5,
487
+ 0,
488
+ 0.95
489
+ ],
490
+ "quat": [
491
+ 0.6088936924934387,
492
+ 0.3814677894115448,
493
+ -0.3673907518386841,
494
+ -0.5905545353889465
495
+ ],
496
+ "camera_attribs": {
497
+ "fovy": "60"
498
+ },
499
+ "parent_body": "mobilebase0_support"
500
+ },
501
+ "robot0_eye_in_hand": {
502
+ "pos": [
503
+ 0.05,
504
+ 0,
505
+ 0
506
+ ],
507
+ "quat": [
508
+ 0,
509
+ 0.707107,
510
+ 0.707107,
511
+ 0
512
+ ],
513
+ "parent_body": "robot0_right_hand"
514
+ }
515
+ },
516
+ "init_robot_base_pos": [
517
+ 4.3960951935665085,
518
+ -3.5814609849930243,
519
+ 0.0
520
+ ],
521
+ "init_robot_base_ori": [
522
+ 0.0,
523
+ 0.0,
524
+ 7.085780169280298e-07
525
+ ]
526
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000007/ep_meta.json ADDED
@@ -0,0 +1,513 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 57,
3
+ "style_id": 44,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_14/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.01061628440965269,
36
+ -0.20417517384924028,
37
+ -0.12513994082786392
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_1_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.24709981284000002,
55
+ 0.24709756509000005,
56
+ 0.021416774287499996
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.13541,
87
+ 1.828718
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12354878254500003,
108
+ 0.12354878254500003
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread003/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12354878254500003,
144
+ 0.12354878254500003
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "banana",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1",
161
+ "group1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "banana",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_19/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_right_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_right_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_1_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_1_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "floor_1_room": {
187
+ "cls": "Floor"
188
+ },
189
+ "floor_1_backing_room": {
190
+ "cls": "Floor"
191
+ },
192
+ "wallaccessory_3_room": {
193
+ "cls": "WallAccessory"
194
+ },
195
+ "wallaccessory_4_room": {
196
+ "cls": "WallAccessory"
197
+ },
198
+ "lightswitch_01_room": {
199
+ "cls": "WallAccessory"
200
+ },
201
+ "window_group_1_room": {
202
+ "cls": "Window"
203
+ },
204
+ "stool_1_room": {
205
+ "cls": "Stool"
206
+ },
207
+ "stool_2_room": {
208
+ "cls": "Stool"
209
+ },
210
+ "hingecabinet_2_main_group_1": {
211
+ "cls": "HingeCabinet"
212
+ },
213
+ "hingecabinet_3_main_group_1": {
214
+ "cls": "HingeCabinet"
215
+ },
216
+ "hingecabinet_4_main_group_1": {
217
+ "cls": "HingeCabinet"
218
+ },
219
+ "singlecabinet_1_main_group_1": {
220
+ "cls": "SingleCabinet"
221
+ },
222
+ "sink_main_group_1": {
223
+ "cls": "Sink"
224
+ },
225
+ "counter_1_main_group_1": {
226
+ "cls": "Counter"
227
+ },
228
+ "cube_3_main_group_1": {
229
+ "cls": "Box"
230
+ },
231
+ "stack_02_main_group_1_base": {
232
+ "cls": "Box"
233
+ },
234
+ "stack_02_main_group_1_1": {
235
+ "cls": "SingleCabinet"
236
+ },
237
+ "stack_02_main_group_1_2": {
238
+ "cls": "Drawer"
239
+ },
240
+ "stack_01_main_group_1_base": {
241
+ "cls": "Box"
242
+ },
243
+ "stack_01_main_group_1_1": {
244
+ "cls": "HingeCabinet"
245
+ },
246
+ "stack_01_main_group_1_2": {
247
+ "cls": "PanelCabinet"
248
+ },
249
+ "stack_03_main_group_1_base": {
250
+ "cls": "Box"
251
+ },
252
+ "stack_03_main_group_1_1": {
253
+ "cls": "SingleCabinet"
254
+ },
255
+ "dishwasher_1_main_group_1": {
256
+ "cls": "Dishwasher"
257
+ },
258
+ "cube_9_main_group_1": {
259
+ "cls": "Box"
260
+ },
261
+ "toaster_main_group_1": {
262
+ "cls": "Toaster"
263
+ },
264
+ "fridgesidebyside_main_group_1": {
265
+ "cls": "FridgeSideBySide"
266
+ },
267
+ "fridgesidebyside_housing_main_group_1": {
268
+ "cls": "HousingCabinet"
269
+ },
270
+ "hingecabinet_1_main_group_1": {
271
+ "cls": "HingeCabinet"
272
+ },
273
+ "bottom_main_group_1_base": {
274
+ "cls": "Box"
275
+ },
276
+ "bottom_main_group_1_1": {
277
+ "cls": "Drawer"
278
+ },
279
+ "oven_cabinet_main_group_1": {
280
+ "cls": "HingeCabinet"
281
+ },
282
+ "microwave_main_group_1": {
283
+ "cls": "Microwave"
284
+ },
285
+ "microwave_housing_main_group_1": {
286
+ "cls": "HousingCabinet"
287
+ },
288
+ "top_main_group_1": {
289
+ "cls": "HingeCabinet"
290
+ },
291
+ "hingecabinet_5_left_group_1": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "singlecabinet_2_left_group_1": {
295
+ "cls": "SingleCabinet"
296
+ },
297
+ "cube_4_left_group_1": {
298
+ "cls": "Box"
299
+ },
300
+ "counter_corner_1_left_group_1": {
301
+ "cls": "Counter"
302
+ },
303
+ "counter_2_left_group_1": {
304
+ "cls": "Counter"
305
+ },
306
+ "stack_04_left_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_04_left_group_1_1": {
310
+ "cls": "SingleCabinet"
311
+ },
312
+ "stack_05_left_group_1_base": {
313
+ "cls": "Box"
314
+ },
315
+ "stack_05_left_group_1_1": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_05_left_group_1_2": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_05_left_group_1_3": {
322
+ "cls": "Drawer"
323
+ },
324
+ "cube_10_left_group_1": {
325
+ "cls": "Box"
326
+ },
327
+ "cube_11_left_group_1": {
328
+ "cls": "Box"
329
+ },
330
+ "coffee_machine_left_group_1": {
331
+ "cls": "CoffeeMachine"
332
+ },
333
+ "paper_towel_left_group_1": {
334
+ "cls": "Accessory"
335
+ },
336
+ "island_1_island_group_1": {
337
+ "cls": "Counter"
338
+ },
339
+ "island_2_island_group_1": {
340
+ "cls": "Counter"
341
+ },
342
+ "island_3_island_group_1": {
343
+ "cls": "Counter"
344
+ },
345
+ "stove_island_group_1": {
346
+ "cls": "Stove"
347
+ },
348
+ "stove_hood_island_group_1": {
349
+ "cls": "Hood"
350
+ },
351
+ "cube_1_island_group_1": {
352
+ "cls": "Box"
353
+ },
354
+ "cube_2_island_group_1": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_07_island_group_1_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_07_island_group_1_1": {
361
+ "cls": "SingleCabinet"
362
+ },
363
+ "stack_07_island_group_1_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_06_island_group_1_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_06_island_group_1_1": {
370
+ "cls": "SingleCabinet"
371
+ },
372
+ "stack_06_island_group_1_2": {
373
+ "cls": "Drawer"
374
+ },
375
+ "stack_09_island_group_2_base": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_09_island_group_2_1": {
379
+ "cls": "SingleCabinet"
380
+ },
381
+ "stack_09_island_group_2_2": {
382
+ "cls": "Drawer"
383
+ },
384
+ "stack_08_island_group_2_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_08_island_group_2_1": {
388
+ "cls": "SingleCabinet"
389
+ },
390
+ "stack_08_island_group_2_2": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_10_island_group_2_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_10_island_group_2_1": {
397
+ "cls": "SingleCabinet"
398
+ },
399
+ "stack_10_island_group_2_2": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_11_island_group_2_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_11_island_group_2_1": {
406
+ "cls": "SingleCabinet"
407
+ },
408
+ "stack_11_island_group_2_2": {
409
+ "cls": "Drawer"
410
+ },
411
+ "cube_5_island_group_2": {
412
+ "cls": "Box"
413
+ }
414
+ },
415
+ "gen_textures": {},
416
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
417
+ "fixture_refs": {
418
+ "stool": "stool_1_room",
419
+ "dining_counter": "island_1_island_group_1",
420
+ "coffee_machine": "coffee_machine_left_group_1"
421
+ },
422
+ "cam_configs": {
423
+ "robot0_agentview_center": {
424
+ "pos": [
425
+ -0.6,
426
+ 0.0,
427
+ 1.15
428
+ ],
429
+ "quat": [
430
+ 0.636945903301239,
431
+ 0.3325185477733612,
432
+ -0.3199238181114197,
433
+ -0.6175596117973328
434
+ ],
435
+ "parent_body": "mobilebase0_support"
436
+ },
437
+ "robot0_agentview_left": {
438
+ "pos": [
439
+ -0.5,
440
+ 0.35,
441
+ 1.05
442
+ ],
443
+ "quat": [
444
+ 0.55623853,
445
+ 0.29935253,
446
+ -0.37678665,
447
+ -0.6775092
448
+ ],
449
+ "camera_attribs": {
450
+ "fovy": "60"
451
+ },
452
+ "parent_body": "mobilebase0_support"
453
+ },
454
+ "robot0_agentview_right": {
455
+ "pos": [
456
+ -0.5,
457
+ -0.35,
458
+ 1.05
459
+ ],
460
+ "quat": [
461
+ 0.6775091886520386,
462
+ 0.3767866790294647,
463
+ -0.2993525564670563,
464
+ -0.55623859167099
465
+ ],
466
+ "camera_attribs": {
467
+ "fovy": "60"
468
+ },
469
+ "parent_body": "mobilebase0_support"
470
+ },
471
+ "robot0_frontview": {
472
+ "pos": [
473
+ -0.5,
474
+ 0,
475
+ 0.95
476
+ ],
477
+ "quat": [
478
+ 0.6088936924934387,
479
+ 0.3814677894115448,
480
+ -0.3673907518386841,
481
+ -0.5905545353889465
482
+ ],
483
+ "camera_attribs": {
484
+ "fovy": "60"
485
+ },
486
+ "parent_body": "mobilebase0_support"
487
+ },
488
+ "robot0_eye_in_hand": {
489
+ "pos": [
490
+ 0.05,
491
+ 0,
492
+ 0
493
+ ],
494
+ "quat": [
495
+ 0,
496
+ 0.707107,
497
+ 0.707107,
498
+ 0
499
+ ],
500
+ "parent_body": "robot0_right_hand"
501
+ }
502
+ },
503
+ "init_robot_base_pos": [
504
+ -1.3151623237258623,
505
+ -0.8263250101056054,
506
+ 0.0
507
+ ],
508
+ "init_robot_base_ori": [
509
+ 0.0,
510
+ 0.0,
511
+ 1.5706378976484208
512
+ ]
513
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000008/ep_meta.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 34,
3
+ "style_id": 28,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_18/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.008047655844979263,
36
+ -0.2048361877239476,
37
+ -0.144651037620527
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.23270280075,
55
+ 0.23270367960000002,
56
+ 0.0122388154875
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 0.7594297016081952,
87
+ 0.6036000000000001
88
+ ],
89
+ "offset": [
90
+ 0.3024000173050916,
91
+ 0.2875,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.116351400375,
108
+ 0.116351400375
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread004/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.116351400375,
144
+ 0.116351400375
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "mango",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "mango",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_12/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_main_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "floor_1_room": {
185
+ "cls": "Floor"
186
+ },
187
+ "floor_1_backing_room": {
188
+ "cls": "Floor"
189
+ },
190
+ "stool_2_room": {
191
+ "cls": "Stool"
192
+ },
193
+ "stool_3_room": {
194
+ "cls": "Stool"
195
+ },
196
+ "stool_4_room": {
197
+ "cls": "Stool"
198
+ },
199
+ "stool_1_room": {
200
+ "cls": "Stool"
201
+ },
202
+ "stovetop_left_group_1": {
203
+ "cls": "Stovetop"
204
+ },
205
+ "counter_1_left_group_1": {
206
+ "cls": "Counter"
207
+ },
208
+ "hingecabinet_4_left_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "hingecabinet_3_left_group_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "hingecabinet_2_left_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "singlecabinet_1_left_group_1": {
218
+ "cls": "SingleCabinet"
219
+ },
220
+ "bottom_left_group_1_base": {
221
+ "cls": "Box"
222
+ },
223
+ "bottom_left_group_1_1": {
224
+ "cls": "Drawer"
225
+ },
226
+ "oven_left_group_1": {
227
+ "cls": "Oven"
228
+ },
229
+ "microwave_left_group_1": {
230
+ "cls": "Microwave"
231
+ },
232
+ "fridgefrenchdoor_left_group_1": {
233
+ "cls": "FridgeFrenchDoor"
234
+ },
235
+ "fridgefrenchdoor_housing_left_group_1": {
236
+ "cls": "HousingCabinet"
237
+ },
238
+ "oven_housing_left_group_1": {
239
+ "cls": "HousingCabinet"
240
+ },
241
+ "hingecabinet_1_left_group_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "microwave_housing_left_group_1": {
245
+ "cls": "HousingCabinet"
246
+ },
247
+ "top_left_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "stack_3_left_group_1_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_3_left_group_1_1": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_3_left_group_1_2": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_3_left_group_1_3": {
260
+ "cls": "PanelCabinet"
261
+ },
262
+ "stack_2_left_group_1_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_2_left_group_1_1": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_2_left_group_1_2": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_2_left_group_1_3": {
272
+ "cls": "Drawer"
273
+ },
274
+ "stack_4_left_group_1_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_4_left_group_1_1": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_4_left_group_1_2": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_4_left_group_1_3": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_1_left_group_1_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_1_left_group_1_1": {
290
+ "cls": "SingleCabinet"
291
+ },
292
+ "coffee_machine_left_group_1": {
293
+ "cls": "CoffeeMachine"
294
+ },
295
+ "toaster_left_group_1": {
296
+ "cls": "Toaster"
297
+ },
298
+ "toaster_oven_left_group_1": {
299
+ "cls": "ToasterOven"
300
+ },
301
+ "sink_island_group_1": {
302
+ "cls": "Sink"
303
+ },
304
+ "island_island_group_1": {
305
+ "cls": "Counter"
306
+ },
307
+ "cube_1_island_group_1": {
308
+ "cls": "Box"
309
+ },
310
+ "cube_2_island_group_1": {
311
+ "cls": "Box"
312
+ },
313
+ "cube_3_island_group_1": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_2_island_group_1_base": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_2_island_group_1_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "stack_3_island_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_3_island_group_1_1": {
326
+ "cls": "SingleCabinet"
327
+ },
328
+ "stack_1_island_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_1_island_group_1_1": {
332
+ "cls": "SingleCabinet"
333
+ },
334
+ "cube_4_island_group_1": {
335
+ "cls": "Box"
336
+ },
337
+ "dishwasher_1_island_group_1": {
338
+ "cls": "Dishwasher"
339
+ },
340
+ "paper_towel_island_group_1": {
341
+ "cls": "Accessory"
342
+ }
343
+ },
344
+ "gen_textures": {},
345
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
346
+ "fixture_refs": {
347
+ "stool": "stool_2_room",
348
+ "dining_counter": "island_island_group_1",
349
+ "coffee_machine": "coffee_machine_left_group_1"
350
+ },
351
+ "cam_configs": {
352
+ "robot0_agentview_center": {
353
+ "pos": [
354
+ -0.6,
355
+ 0.0,
356
+ 1.15
357
+ ],
358
+ "quat": [
359
+ 0.636945903301239,
360
+ 0.3325185477733612,
361
+ -0.3199238181114197,
362
+ -0.6175596117973328
363
+ ],
364
+ "parent_body": "mobilebase0_support"
365
+ },
366
+ "robot0_agentview_left": {
367
+ "pos": [
368
+ -0.5,
369
+ 0.35,
370
+ 1.05
371
+ ],
372
+ "quat": [
373
+ 0.55623853,
374
+ 0.29935253,
375
+ -0.37678665,
376
+ -0.6775092
377
+ ],
378
+ "camera_attribs": {
379
+ "fovy": "60"
380
+ },
381
+ "parent_body": "mobilebase0_support"
382
+ },
383
+ "robot0_agentview_right": {
384
+ "pos": [
385
+ -0.5,
386
+ -0.35,
387
+ 1.05
388
+ ],
389
+ "quat": [
390
+ 0.6775091886520386,
391
+ 0.3767866790294647,
392
+ -0.2993525564670563,
393
+ -0.55623859167099
394
+ ],
395
+ "camera_attribs": {
396
+ "fovy": "60"
397
+ },
398
+ "parent_body": "mobilebase0_support"
399
+ },
400
+ "robot0_frontview": {
401
+ "pos": [
402
+ -0.5,
403
+ 0,
404
+ 0.95
405
+ ],
406
+ "quat": [
407
+ 0.6088936924934387,
408
+ 0.3814677894115448,
409
+ -0.3673907518386841,
410
+ -0.5905545353889465
411
+ ],
412
+ "camera_attribs": {
413
+ "fovy": "60"
414
+ },
415
+ "parent_body": "mobilebase0_support"
416
+ },
417
+ "robot0_eye_in_hand": {
418
+ "pos": [
419
+ 0.05,
420
+ 0,
421
+ 0
422
+ ],
423
+ "quat": [
424
+ 0,
425
+ 0.707107,
426
+ 0.707107,
427
+ 0
428
+ ],
429
+ "parent_body": "robot0_right_hand"
430
+ }
431
+ },
432
+ "init_robot_base_pos": [
433
+ 0.7856194885595563,
434
+ -1.1084816292334845,
435
+ 0.0
436
+ ],
437
+ "init_robot_base_ori": [
438
+ 0.0,
439
+ 0.0,
440
+ 3.1412906566438026
441
+ ]
442
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000009/ep_meta.json ADDED
@@ -0,0 +1,566 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 24,
3
+ "style_id": 35,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.060039398381759396,
36
+ -0.14262033798683926,
37
+ -0.16082293939771997
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.23125013257500002,
55
+ 0.23125020817500003,
56
+ 0.018714614625
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.6314900312120002,
87
+ 1.95
88
+ ],
89
+ "offset": [
90
+ -1.0842549843939997,
91
+ 2.0816681711721685e-17,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11562506628750001,
108
+ 0.11562506628750001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "baguette",
121
+ "bread_food",
122
+ "food",
123
+ "in_container",
124
+ "food_set1"
125
+ ],
126
+ "groups": [
127
+ "bread_food",
128
+ "pancake",
129
+ "waffle"
130
+ ],
131
+ "cat": "baguette",
132
+ "split": "train",
133
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml"
134
+ }
135
+ },
136
+ {
137
+ "name": "breakfast_item2",
138
+ "obj_groups": [
139
+ "fruit",
140
+ "cheese"
141
+ ],
142
+ "placement": {
143
+ "size": [
144
+ 0.11562506628750001,
145
+ 0.11562506628750001
146
+ ],
147
+ "ensure_object_boundary_in_range": false,
148
+ "sample_args": {
149
+ "reference": "breakfast_plate",
150
+ "on_top": true
151
+ }
152
+ },
153
+ "type": "object",
154
+ "info": {
155
+ "groups_containing_sampled_obj": [
156
+ "all",
157
+ "tangerine",
158
+ "fruit",
159
+ "food",
160
+ "in_container"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "tangerine",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_right_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_right_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_main_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_main_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "floor_1_room": {
186
+ "cls": "Floor"
187
+ },
188
+ "floor_1_backing_room": {
189
+ "cls": "Floor"
190
+ },
191
+ "floor_2_room": {
192
+ "cls": "Floor"
193
+ },
194
+ "floor_2_backing_room": {
195
+ "cls": "Floor"
196
+ },
197
+ "wall_accessory_1_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "wall_accessory_2_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "wall_accessory_3_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "wall_accessory_4_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "wall_accessory_5_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "wall_accessory_6_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "window_group_1_room": {
216
+ "cls": "Window"
217
+ },
218
+ "window_group_2_room": {
219
+ "cls": "Window"
220
+ },
221
+ "stool_1_room": {
222
+ "cls": "Stool"
223
+ },
224
+ "stool_2_room": {
225
+ "cls": "Stool"
226
+ },
227
+ "stool_3_room": {
228
+ "cls": "Stool"
229
+ },
230
+ "counter_1_main_group": {
231
+ "cls": "Counter"
232
+ },
233
+ "stove_main_group": {
234
+ "cls": "Stove"
235
+ },
236
+ "counter_2_main_group": {
237
+ "cls": "Counter"
238
+ },
239
+ "stack_1_main_group_base": {
240
+ "cls": "Box"
241
+ },
242
+ "stack_1_main_group_1": {
243
+ "cls": "Drawer"
244
+ },
245
+ "stack_1_main_group_2": {
246
+ "cls": "Drawer"
247
+ },
248
+ "stack_1_main_group_3": {
249
+ "cls": "Drawer"
250
+ },
251
+ "stack_2_main_group_base": {
252
+ "cls": "Box"
253
+ },
254
+ "stack_2_main_group_1": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "dishwasher_main_group": {
258
+ "cls": "Dishwasher"
259
+ },
260
+ "stack_3_main_group_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_3_main_group_1": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_3_main_group_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_3_main_group_3": {
270
+ "cls": "Drawer"
271
+ },
272
+ "stack_3_main_group_4": {
273
+ "cls": "Drawer"
274
+ },
275
+ "stack_3_main_group_5": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_3_main_group_6": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_4_main_group_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_4_main_group_1": {
285
+ "cls": "Drawer"
286
+ },
287
+ "stack_4_main_group_2": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_4_main_group_3": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_5_main_group_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_5_main_group_1": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_5_main_group_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_6_main_group_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_6_main_group_1": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_6_main_group_2": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_7_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_7_main_group_1": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_7_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_7_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "wall_stack_main_group_base": {
324
+ "cls": "Box"
325
+ },
326
+ "wall_stack_main_group_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "wall_stack_main_group_2": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "hood_main_group": {
333
+ "cls": "Hood"
334
+ },
335
+ "cab_1_main_group": {
336
+ "cls": "SingleCabinet"
337
+ },
338
+ "cab_2_main_group": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "cab_3_main_group": {
342
+ "cls": "SingleCabinet"
343
+ },
344
+ "cab_4_main_group": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "cab_5_main_group": {
348
+ "cls": "HingeCabinet"
349
+ },
350
+ "cab_6_main_group": {
351
+ "cls": "SingleCabinet"
352
+ },
353
+ "coffee_machine_main_group": {
354
+ "cls": "CoffeeMachine"
355
+ },
356
+ "paper_towel_main_group": {
357
+ "cls": "Accessory"
358
+ },
359
+ "toaster_main_group": {
360
+ "cls": "Toaster"
361
+ },
362
+ "toaster_oven_main_group": {
363
+ "cls": "ToasterOven"
364
+ },
365
+ "bottom_right_group_base": {
366
+ "cls": "Box"
367
+ },
368
+ "bottom_right_group_1": {
369
+ "cls": "Drawer"
370
+ },
371
+ "cab_1_right_group": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "microwave_right_group": {
375
+ "cls": "Microwave"
376
+ },
377
+ "microwave_housing_right_group": {
378
+ "cls": "HousingCabinet"
379
+ },
380
+ "top_right_group": {
381
+ "cls": "HingeCabinet"
382
+ },
383
+ "fridge_right_group": {
384
+ "cls": "FridgeSideBySide"
385
+ },
386
+ "fridge_housing_right_group": {
387
+ "cls": "HousingCabinet"
388
+ },
389
+ "fridge_top_cabinet_right_group": {
390
+ "cls": "HingeCabinet"
391
+ },
392
+ "sink_1_island_group_1": {
393
+ "cls": "Sink"
394
+ },
395
+ "island_island_group_1": {
396
+ "cls": "Counter"
397
+ },
398
+ "box_island_group_1": {
399
+ "cls": "Box"
400
+ },
401
+ "panel_box_1_island_group_1_base": {
402
+ "cls": "Box"
403
+ },
404
+ "panel_box_1_island_group_1_1": {
405
+ "cls": "PanelCabinet"
406
+ },
407
+ "stack_1_island_group_1_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_1_island_group_1_1": {
411
+ "cls": "Drawer"
412
+ },
413
+ "stack_1_island_group_1_2": {
414
+ "cls": "Drawer"
415
+ },
416
+ "stack_1_island_group_1_3": {
417
+ "cls": "Drawer"
418
+ },
419
+ "stack_2_island_group_1_base": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_2_island_group_1_1": {
423
+ "cls": "SingleCabinet"
424
+ },
425
+ "stack_3_island_group_1_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_3_island_group_1_1": {
429
+ "cls": "HingeCabinet"
430
+ },
431
+ "stack_3_island_group_1_2": {
432
+ "cls": "PanelCabinet"
433
+ },
434
+ "stack_4_island_group_1_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_4_island_group_1_1": {
438
+ "cls": "SingleCabinet"
439
+ },
440
+ "stack_5_island_group_1_base": {
441
+ "cls": "Box"
442
+ },
443
+ "stack_5_island_group_1_1": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_5_island_group_1_2": {
447
+ "cls": "Drawer"
448
+ },
449
+ "stack_5_island_group_1_3": {
450
+ "cls": "Drawer"
451
+ },
452
+ "plant_island_group_1": {
453
+ "cls": "Accessory"
454
+ },
455
+ "stack_1_island_group_2_base": {
456
+ "cls": "Box"
457
+ },
458
+ "stack_1_island_group_2_1": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "stack_2_island_group_2_base": {
462
+ "cls": "Box"
463
+ },
464
+ "stack_2_island_group_2_1": {
465
+ "cls": "SingleCabinet"
466
+ }
467
+ },
468
+ "gen_textures": {},
469
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
470
+ "fixture_refs": {
471
+ "stool": "stool_1_room",
472
+ "dining_counter": "island_island_group_1",
473
+ "coffee_machine": "coffee_machine_main_group"
474
+ },
475
+ "cam_configs": {
476
+ "robot0_agentview_center": {
477
+ "pos": [
478
+ -0.6,
479
+ 0.0,
480
+ 1.15
481
+ ],
482
+ "quat": [
483
+ 0.636945903301239,
484
+ 0.3325185477733612,
485
+ -0.3199238181114197,
486
+ -0.6175596117973328
487
+ ],
488
+ "parent_body": "mobilebase0_support"
489
+ },
490
+ "robot0_agentview_left": {
491
+ "pos": [
492
+ -0.5,
493
+ 0.35,
494
+ 1.05
495
+ ],
496
+ "quat": [
497
+ 0.55623853,
498
+ 0.29935253,
499
+ -0.37678665,
500
+ -0.6775092
501
+ ],
502
+ "camera_attribs": {
503
+ "fovy": "60"
504
+ },
505
+ "parent_body": "mobilebase0_support"
506
+ },
507
+ "robot0_agentview_right": {
508
+ "pos": [
509
+ -0.5,
510
+ -0.35,
511
+ 1.05
512
+ ],
513
+ "quat": [
514
+ 0.6775091886520386,
515
+ 0.3767866790294647,
516
+ -0.2993525564670563,
517
+ -0.55623859167099
518
+ ],
519
+ "camera_attribs": {
520
+ "fovy": "60"
521
+ },
522
+ "parent_body": "mobilebase0_support"
523
+ },
524
+ "robot0_frontview": {
525
+ "pos": [
526
+ -0.5,
527
+ 0,
528
+ 0.95
529
+ ],
530
+ "quat": [
531
+ 0.6088936924934387,
532
+ 0.3814677894115448,
533
+ -0.3673907518386841,
534
+ -0.5905545353889465
535
+ ],
536
+ "camera_attribs": {
537
+ "fovy": "60"
538
+ },
539
+ "parent_body": "mobilebase0_support"
540
+ },
541
+ "robot0_eye_in_hand": {
542
+ "pos": [
543
+ 0.05,
544
+ 0,
545
+ 0
546
+ ],
547
+ "quat": [
548
+ 0,
549
+ 0.707107,
550
+ 0.707107,
551
+ 0
552
+ ],
553
+ "parent_body": "robot0_right_hand"
554
+ }
555
+ },
556
+ "init_robot_base_pos": [
557
+ 2.0316366431700645,
558
+ -0.7836737672421112,
559
+ 0.0
560
+ ],
561
+ "init_robot_base_ori": [
562
+ 0.0,
563
+ 0.0,
564
+ 1.5707963267948966
565
+ ]
566
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000010/ep_meta.json ADDED
@@ -0,0 +1,571 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 22,
3
+ "style_id": 37,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.0010172510651319953,
36
+ -0.18274904185204527,
37
+ -0.14333263756559597
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "dining_dining_area_group_2",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_4_room",
53
+ "min_size": [
54
+ 0.23187298679999999,
55
+ 0.231873067125,
56
+ 0.014080967775000001
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.0179997006644252,
87
+ 0.85
88
+ ],
89
+ "offset": [
90
+ 0.5500001496677873,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11593649339999999,
108
+ 0.11593649339999999
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread003/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11593649339999999,
144
+ 0.11593649339999999
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "pear",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "pear",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_13/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_front_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_front_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_main_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_main_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_3_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_3_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_main_2_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_main_2_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_right_1_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_right_1_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_right_2_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_right_2_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_front_2_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_front_2_backing_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_main_4_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_main_4_backing_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "floor_1_room": {
227
+ "cls": "Floor"
228
+ },
229
+ "floor_1_backing_room": {
230
+ "cls": "Floor"
231
+ },
232
+ "floor_2_room": {
233
+ "cls": "Floor"
234
+ },
235
+ "floor_2_backing_room": {
236
+ "cls": "Floor"
237
+ },
238
+ "floor_3_room": {
239
+ "cls": "Floor"
240
+ },
241
+ "floor_3_backing_room": {
242
+ "cls": "Floor"
243
+ },
244
+ "floor_4_room": {
245
+ "cls": "Floor"
246
+ },
247
+ "floor_4_backing_room": {
248
+ "cls": "Floor"
249
+ },
250
+ "wall_accessory_1_room": {
251
+ "cls": "WallAccessory"
252
+ },
253
+ "wall_accessory_2_room": {
254
+ "cls": "WallAccessory"
255
+ },
256
+ "wall_accessory_3_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "wall_accessory_4_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "light_switch_1_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "window_group_room": {
266
+ "cls": "Window"
267
+ },
268
+ "stool_1_room": {
269
+ "cls": "Stool"
270
+ },
271
+ "stool_2_room": {
272
+ "cls": "Stool"
273
+ },
274
+ "stool_3_room": {
275
+ "cls": "Stool"
276
+ },
277
+ "stool_4_room": {
278
+ "cls": "Stool"
279
+ },
280
+ "stool_5_room": {
281
+ "cls": "Stool"
282
+ },
283
+ "stool_6_room": {
284
+ "cls": "Stool"
285
+ },
286
+ "sink_1_left_group": {
287
+ "cls": "Sink"
288
+ },
289
+ "counter_1_left_group": {
290
+ "cls": "Counter"
291
+ },
292
+ "stack_1_left_group_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_1_left_group_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "stack_1_left_group_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_2_left_group_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_2_left_group_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "stack_2_left_group_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "oven_left_group": {
311
+ "cls": "Oven"
312
+ },
313
+ "stack_3_left_group_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_3_left_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "dishwasher_left_group": {
320
+ "cls": "Dishwasher"
321
+ },
322
+ "stack_4_left_group_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_4_left_group_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "stack_4_left_group_2": {
329
+ "cls": "Drawer"
330
+ },
331
+ "cab_1_left_group": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "cab_2_left_group": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "toaster_left_group": {
338
+ "cls": "Toaster"
339
+ },
340
+ "coffee_machine_left_group": {
341
+ "cls": "CoffeeMachine"
342
+ },
343
+ "paper_towel_left_group": {
344
+ "cls": "Accessory"
345
+ },
346
+ "knife_block_left_group": {
347
+ "cls": "Accessory"
348
+ },
349
+ "fridge_main_group": {
350
+ "cls": "FridgeFrenchDoor"
351
+ },
352
+ "fridge_housing_main_group": {
353
+ "cls": "HousingCabinet"
354
+ },
355
+ "counter_1_main_group": {
356
+ "cls": "Counter"
357
+ },
358
+ "stack_1_main_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_main_group_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stack_1_main_group_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_1_main_group_3": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_2_main_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_2_main_group_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_2_main_group_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_2_main_group_3": {
380
+ "cls": "Drawer"
381
+ },
382
+ "cab_1_main_group": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "cab_2_main_group": {
386
+ "cls": "HingeCabinet"
387
+ },
388
+ "cab_3_main_group": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "toaster_oven_main_group": {
392
+ "cls": "ToasterOven"
393
+ },
394
+ "stovetop_dining_area_group_1": {
395
+ "cls": "Stovetop"
396
+ },
397
+ "dining_dining_area_group_1": {
398
+ "cls": "Counter"
399
+ },
400
+ "stack_1_dining_area_group_1_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_1_dining_area_group_1_1": {
404
+ "cls": "SingleCabinet"
405
+ },
406
+ "stack_1_dining_area_group_1_2": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_2_dining_area_group_1_base": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_2_dining_area_group_1_1": {
413
+ "cls": "HingeCabinet"
414
+ },
415
+ "stack_3_dining_area_group_1_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_3_dining_area_group_1_1": {
419
+ "cls": "SingleCabinet"
420
+ },
421
+ "stack_3_dining_area_group_1_2": {
422
+ "cls": "Drawer"
423
+ },
424
+ "dining_dining_area_group_2": {
425
+ "cls": "Counter"
426
+ },
427
+ "stack_1_dining_area_group_2_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_1_dining_area_group_2_1": {
431
+ "cls": "SingleCabinet"
432
+ },
433
+ "stack_1_dining_area_group_2_2": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_2_dining_area_group_2_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_2_dining_area_group_2_1": {
440
+ "cls": "HingeCabinet"
441
+ },
442
+ "stack_2_dining_area_group_2_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_3_dining_area_group_2_base": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_3_dining_area_group_2_1": {
449
+ "cls": "SingleCabinet"
450
+ },
451
+ "stack_3_dining_area_group_2_2": {
452
+ "cls": "Drawer"
453
+ },
454
+ "bottom_front_group_base": {
455
+ "cls": "Box"
456
+ },
457
+ "bottom_front_group_1": {
458
+ "cls": "Drawer"
459
+ },
460
+ "middle_front_group": {
461
+ "cls": "HingeCabinet"
462
+ },
463
+ "microwave_front_group": {
464
+ "cls": "Microwave"
465
+ },
466
+ "microwave_housing_front_group": {
467
+ "cls": "HousingCabinet"
468
+ },
469
+ "top_front_group": {
470
+ "cls": "HingeCabinet"
471
+ }
472
+ },
473
+ "gen_textures": {},
474
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
475
+ "fixture_refs": {
476
+ "stool": "stool_4_room",
477
+ "dining_counter": "dining_dining_area_group_2",
478
+ "coffee_machine": "coffee_machine_left_group"
479
+ },
480
+ "cam_configs": {
481
+ "robot0_agentview_center": {
482
+ "pos": [
483
+ -0.6,
484
+ 0.0,
485
+ 1.15
486
+ ],
487
+ "quat": [
488
+ 0.636945903301239,
489
+ 0.3325185477733612,
490
+ -0.3199238181114197,
491
+ -0.6175596117973328
492
+ ],
493
+ "parent_body": "mobilebase0_support"
494
+ },
495
+ "robot0_agentview_left": {
496
+ "pos": [
497
+ -0.5,
498
+ 0.35,
499
+ 1.05
500
+ ],
501
+ "quat": [
502
+ 0.55623853,
503
+ 0.29935253,
504
+ -0.37678665,
505
+ -0.6775092
506
+ ],
507
+ "camera_attribs": {
508
+ "fovy": "60"
509
+ },
510
+ "parent_body": "mobilebase0_support"
511
+ },
512
+ "robot0_agentview_right": {
513
+ "pos": [
514
+ -0.5,
515
+ -0.35,
516
+ 1.05
517
+ ],
518
+ "quat": [
519
+ 0.6775091886520386,
520
+ 0.3767866790294647,
521
+ -0.2993525564670563,
522
+ -0.55623859167099
523
+ ],
524
+ "camera_attribs": {
525
+ "fovy": "60"
526
+ },
527
+ "parent_body": "mobilebase0_support"
528
+ },
529
+ "robot0_frontview": {
530
+ "pos": [
531
+ -0.5,
532
+ 0,
533
+ 0.95
534
+ ],
535
+ "quat": [
536
+ 0.6088936924934387,
537
+ 0.3814677894115448,
538
+ -0.3673907518386841,
539
+ -0.5905545353889465
540
+ ],
541
+ "camera_attribs": {
542
+ "fovy": "60"
543
+ },
544
+ "parent_body": "mobilebase0_support"
545
+ },
546
+ "robot0_eye_in_hand": {
547
+ "pos": [
548
+ 0.05,
549
+ 0,
550
+ 0
551
+ ],
552
+ "quat": [
553
+ 0,
554
+ 0.707107,
555
+ 0.707107,
556
+ 0
557
+ ],
558
+ "parent_body": "robot0_right_hand"
559
+ }
560
+ },
561
+ "init_robot_base_pos": [
562
+ 0.8138482192427751,
563
+ -4.41374158776301,
564
+ 0.0
565
+ ],
566
+ "init_robot_base_ori": [
567
+ 0.0,
568
+ 0.0,
569
+ 3.1415926193612504
570
+ ]
571
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000011/ep_meta.json ADDED
@@ -0,0 +1,580 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 15,
3
+ "style_id": 45,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_3/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.009312929484310594,
36
+ -0.21214005935549288,
37
+ -0.13409819481712165
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_3_room",
53
+ "min_size": [
54
+ 0.24499104372000002,
55
+ 0.24499081394999997,
56
+ 0.02685923388
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 0.5084695726054966,
87
+ 1.47
88
+ ],
89
+ "offset": [
90
+ -0.69799995320958,
91
+ 2.0816681711721685e-17,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12249540697499998,
108
+ 0.12249540697499998
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12249540697499998,
144
+ 0.12249540697499998
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "mango",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "mango",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_18/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_main_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_left_2_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_left_2_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_left_3_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_left_3_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_front_1_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_front_1_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_right_1_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_right_1_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_right_2_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_right_2_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_front_2_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_front_2_backing_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_main_2_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_main_2_backing_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_left_4_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_left_4_backing_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_left_5_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_left_5_backing_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "floor_1_room": {
239
+ "cls": "Floor"
240
+ },
241
+ "floor_1_backing_room": {
242
+ "cls": "Floor"
243
+ },
244
+ "floor_2_room": {
245
+ "cls": "Floor"
246
+ },
247
+ "floor_2_backing_room": {
248
+ "cls": "Floor"
249
+ },
250
+ "floor_3_room": {
251
+ "cls": "Floor"
252
+ },
253
+ "floor_3_backing_room": {
254
+ "cls": "Floor"
255
+ },
256
+ "wall_accessory_1_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "wall_accessory_2_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "wall_accessory_3_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "light_switch_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "wall_accessory_4_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "wall_accessory_5_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "wall_accessory_6_room": {
275
+ "cls": "WallAccessory"
276
+ },
277
+ "stool_1_room": {
278
+ "cls": "Stool"
279
+ },
280
+ "stool_2_room": {
281
+ "cls": "Stool"
282
+ },
283
+ "stool_3_room": {
284
+ "cls": "Stool"
285
+ },
286
+ "fridge_1_main_group_1": {
287
+ "cls": "FridgeFrenchDoor"
288
+ },
289
+ "fridge_1_housing_main_group_1": {
290
+ "cls": "HousingCabinet"
291
+ },
292
+ "fridge_top_main_group_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "bottom_main_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "bottom_main_group_1_1": {
299
+ "cls": "Drawer"
300
+ },
301
+ "oven_main_group_1": {
302
+ "cls": "Oven"
303
+ },
304
+ "oven_housing_main_group_1": {
305
+ "cls": "HousingCabinet"
306
+ },
307
+ "microwave_main_group_1": {
308
+ "cls": "Microwave"
309
+ },
310
+ "microwave_housing_main_group_1": {
311
+ "cls": "HousingCabinet"
312
+ },
313
+ "top_main_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "counter_1_main_group_1": {
317
+ "cls": "Counter"
318
+ },
319
+ "stack_1_main_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_1_main_group_1_1": {
323
+ "cls": "Drawer"
324
+ },
325
+ "stack_1_main_group_1_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_1_main_group_1_3": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_2_main_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_2_main_group_1_1": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "stack_2_main_group_1_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "cab_1_main_group_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "toaster_main_group_1": {
344
+ "cls": "Toaster"
345
+ },
346
+ "stovetop_1_left_group_1": {
347
+ "cls": "Stovetop"
348
+ },
349
+ "counter_1_left_group_1": {
350
+ "cls": "Counter"
351
+ },
352
+ "stack_1_left_group_1_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_1_left_group_1_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "stack_1_left_group_1_2": {
359
+ "cls": "PanelCabinet"
360
+ },
361
+ "stack_2_left_group_1_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_2_left_group_1_1": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "stack_2_left_group_1_2": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_3_left_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_3_left_group_1_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_3_left_group_1_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "hood_left_group_1": {
380
+ "cls": "Hood"
381
+ },
382
+ "cab_1_left_group_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "cab_2_left_group_1": {
386
+ "cls": "HingeCabinet"
387
+ },
388
+ "coffee_machine_left_group_1": {
389
+ "cls": "CoffeeMachine"
390
+ },
391
+ "counter_1_front_group_1": {
392
+ "cls": "Counter"
393
+ },
394
+ "stack_1_front_group_1_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_1_front_group_1_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "stack_1_front_group_1_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_2_front_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_2_front_group_1_1": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "stack_2_front_group_1_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_3_front_group_1_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_3_front_group_1_1": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "stack_3_front_group_1_2": {
419
+ "cls": "Drawer"
420
+ },
421
+ "cab_1_front_group_1": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "cab_2_front_group_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "cab_3_front_group_1": {
428
+ "cls": "HingeCabinet"
429
+ },
430
+ "toaster_oven_front_group_1": {
431
+ "cls": "ToasterOven"
432
+ },
433
+ "sink_island_group": {
434
+ "cls": "Sink"
435
+ },
436
+ "island_island_group": {
437
+ "cls": "Counter"
438
+ },
439
+ "panel_stack_island_group_base": {
440
+ "cls": "Box"
441
+ },
442
+ "panel_stack_island_group_1": {
443
+ "cls": "PanelCabinet"
444
+ },
445
+ "dishwasher_island_group": {
446
+ "cls": "Dishwasher"
447
+ },
448
+ "box_island_group": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_1_island_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_1_island_group_1": {
455
+ "cls": "HingeCabinet"
456
+ },
457
+ "stack_1_island_group_2": {
458
+ "cls": "PanelCabinet"
459
+ },
460
+ "stack_2_island_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_2_island_group_1": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "stack_2_island_group_2": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_2_island_group_3": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_3_island_group_base": {
473
+ "cls": "Box"
474
+ },
475
+ "stack_3_island_group_1": {
476
+ "cls": "PanelCabinet"
477
+ },
478
+ "paper_towel_island_group": {
479
+ "cls": "Accessory"
480
+ }
481
+ },
482
+ "gen_textures": {},
483
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
484
+ "fixture_refs": {
485
+ "stool": "stool_3_room",
486
+ "dining_counter": "island_island_group",
487
+ "coffee_machine": "coffee_machine_left_group_1"
488
+ },
489
+ "cam_configs": {
490
+ "robot0_agentview_center": {
491
+ "pos": [
492
+ -0.6,
493
+ 0.0,
494
+ 1.15
495
+ ],
496
+ "quat": [
497
+ 0.636945903301239,
498
+ 0.3325185477733612,
499
+ -0.3199238181114197,
500
+ -0.6175596117973328
501
+ ],
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_agentview_left": {
505
+ "pos": [
506
+ -0.5,
507
+ 0.35,
508
+ 1.05
509
+ ],
510
+ "quat": [
511
+ 0.55623853,
512
+ 0.29935253,
513
+ -0.37678665,
514
+ -0.6775092
515
+ ],
516
+ "camera_attribs": {
517
+ "fovy": "60"
518
+ },
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_agentview_right": {
522
+ "pos": [
523
+ -0.5,
524
+ -0.35,
525
+ 1.05
526
+ ],
527
+ "quat": [
528
+ 0.6775091886520386,
529
+ 0.3767866790294647,
530
+ -0.2993525564670563,
531
+ -0.55623859167099
532
+ ],
533
+ "camera_attribs": {
534
+ "fovy": "60"
535
+ },
536
+ "parent_body": "mobilebase0_support"
537
+ },
538
+ "robot0_frontview": {
539
+ "pos": [
540
+ -0.5,
541
+ 0,
542
+ 0.95
543
+ ],
544
+ "quat": [
545
+ 0.6088936924934387,
546
+ 0.3814677894115448,
547
+ -0.3673907518386841,
548
+ -0.5905545353889465
549
+ ],
550
+ "camera_attribs": {
551
+ "fovy": "60"
552
+ },
553
+ "parent_body": "mobilebase0_support"
554
+ },
555
+ "robot0_eye_in_hand": {
556
+ "pos": [
557
+ 0.05,
558
+ 0,
559
+ 0
560
+ ],
561
+ "quat": [
562
+ 0,
563
+ 0.707107,
564
+ 0.707107,
565
+ 0
566
+ ],
567
+ "parent_body": "robot0_right_hand"
568
+ }
569
+ },
570
+ "init_robot_base_pos": [
571
+ 0.8222151657190223,
572
+ -2.0195267403495523,
573
+ 0.0
574
+ ],
575
+ "init_robot_base_ori": [
576
+ 0.0,
577
+ 0.0,
578
+ 3.1415926193612504
579
+ ]
580
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000012/ep_meta.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 59,
3
+ "style_id": 44,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.01061628440965269,
36
+ -0.20417517384924028,
37
+ -0.12513994082786392
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.23187298679999999,
55
+ 0.231873067125,
56
+ 0.014080967775000001
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 0.8867377689637227,
87
+ 0.4609890000000001
88
+ ],
89
+ "offset": [
90
+ 0.011966993649254576,
91
+ 0.3075,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11593649339999999,
108
+ 0.11593649339999999
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread003/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11593649339999999,
144
+ 0.11593649339999999
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "orange",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "orange",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_main_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_main_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_left_01_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_left_01_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_main_2_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_main_2_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_left_02_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_left_02_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_left_03_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_left_03_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_left_04_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_left_04_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "floor_1_room": {
210
+ "cls": "Floor"
211
+ },
212
+ "floor_1_backing_room": {
213
+ "cls": "Floor"
214
+ },
215
+ "floor_2_room": {
216
+ "cls": "Floor"
217
+ },
218
+ "floor_2_backing_room": {
219
+ "cls": "Floor"
220
+ },
221
+ "wallaccessory_01_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "wallaccessory_02_room": {
225
+ "cls": "WallAccessory"
226
+ },
227
+ "wallaccessory_03_room": {
228
+ "cls": "WallAccessory"
229
+ },
230
+ "wallaccessory_04_room": {
231
+ "cls": "WallAccessory"
232
+ },
233
+ "window_group_1_room": {
234
+ "cls": "Window"
235
+ },
236
+ "window_group_2_room": {
237
+ "cls": "Window"
238
+ },
239
+ "stool_2_room": {
240
+ "cls": "Stool"
241
+ },
242
+ "stool_1_room": {
243
+ "cls": "Stool"
244
+ },
245
+ "stool_3_room": {
246
+ "cls": "Stool"
247
+ },
248
+ "fridgefrenchdoor_left_group_1": {
249
+ "cls": "FridgeFrenchDoor"
250
+ },
251
+ "fridgefrenchdoor_housing_left_group_1": {
252
+ "cls": "HousingCabinet"
253
+ },
254
+ "bottom_left_group_1_base": {
255
+ "cls": "Box"
256
+ },
257
+ "bottom_left_group_1_1": {
258
+ "cls": "Drawer"
259
+ },
260
+ "microwave_left_group_1": {
261
+ "cls": "Microwave"
262
+ },
263
+ "oven_cabinet_left_group_1": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "hingecabinet_1_left_group_1": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "microwave_housing_left_group_1": {
270
+ "cls": "HousingCabinet"
271
+ },
272
+ "top_left_group_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "stack_1_island_group_1_base": {
276
+ "cls": "Box"
277
+ },
278
+ "stack_1_island_group_1_1": {
279
+ "cls": "SingleCabinet"
280
+ },
281
+ "stack_1_island_group_1_2": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_2_island_group_1_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_2_island_group_1_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "stack_2_island_group_1_2": {
291
+ "cls": "PanelCabinet"
292
+ },
293
+ "cube_3_island_group_1": {
294
+ "cls": "Box"
295
+ },
296
+ "cube_1_island_group_1": {
297
+ "cls": "Box"
298
+ },
299
+ "cube_2_island_group_1": {
300
+ "cls": "Box"
301
+ },
302
+ "cube_4_island_group_1": {
303
+ "cls": "Box"
304
+ },
305
+ "dishwasher_1_island_group_1": {
306
+ "cls": "Dishwasher"
307
+ },
308
+ "sink_island_group_1": {
309
+ "cls": "Sink"
310
+ },
311
+ "island_island_group_1": {
312
+ "cls": "Counter"
313
+ },
314
+ "stack_01_main_group_1_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_01_main_group_1_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "stack_01_main_group_1_2": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_02_main_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_02_main_group_1_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "stack_02_main_group_1_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_03_main_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_03_main_group_1_1": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "stack_03_main_group_1_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_04_main_group_1_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_04_main_group_1_1": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "stack_04_main_group_1_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "counter_2_main_group_1": {
351
+ "cls": "Counter"
352
+ },
353
+ "counter_3_main_group_1": {
354
+ "cls": "Counter"
355
+ },
356
+ "widestove_main_group_1": {
357
+ "cls": "Stove"
358
+ },
359
+ "widestove_hood_main_group_1": {
360
+ "cls": "Hood"
361
+ },
362
+ "singlecabinet_03_main_group_1": {
363
+ "cls": "SingleCabinet"
364
+ },
365
+ "singlecabinet_02_main_group_1": {
366
+ "cls": "SingleCabinet"
367
+ },
368
+ "singlecabinet_01_main_group_1": {
369
+ "cls": "SingleCabinet"
370
+ },
371
+ "singlecabinet_04_main_group_1": {
372
+ "cls": "SingleCabinet"
373
+ },
374
+ "coffee_machine_main_group_1": {
375
+ "cls": "CoffeeMachine"
376
+ },
377
+ "toaster_main_group_1": {
378
+ "cls": "Toaster"
379
+ },
380
+ "paper_towel_main_group_1": {
381
+ "cls": "Accessory"
382
+ },
383
+ "toaster_oven_main_group_1": {
384
+ "cls": "ToasterOven"
385
+ }
386
+ },
387
+ "gen_textures": {},
388
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
389
+ "fixture_refs": {
390
+ "stool": "stool_1_room",
391
+ "dining_counter": "island_island_group_1",
392
+ "coffee_machine": "coffee_machine_main_group_1"
393
+ },
394
+ "cam_configs": {
395
+ "robot0_agentview_center": {
396
+ "pos": [
397
+ -0.6,
398
+ 0.0,
399
+ 1.15
400
+ ],
401
+ "quat": [
402
+ 0.636945903301239,
403
+ 0.3325185477733612,
404
+ -0.3199238181114197,
405
+ -0.6175596117973328
406
+ ],
407
+ "parent_body": "mobilebase0_support"
408
+ },
409
+ "robot0_agentview_left": {
410
+ "pos": [
411
+ -0.5,
412
+ 0.35,
413
+ 1.05
414
+ ],
415
+ "quat": [
416
+ 0.55623853,
417
+ 0.29935253,
418
+ -0.37678665,
419
+ -0.6775092
420
+ ],
421
+ "camera_attribs": {
422
+ "fovy": "60"
423
+ },
424
+ "parent_body": "mobilebase0_support"
425
+ },
426
+ "robot0_agentview_right": {
427
+ "pos": [
428
+ -0.5,
429
+ -0.35,
430
+ 1.05
431
+ ],
432
+ "quat": [
433
+ 0.6775091886520386,
434
+ 0.3767866790294647,
435
+ -0.2993525564670563,
436
+ -0.55623859167099
437
+ ],
438
+ "camera_attribs": {
439
+ "fovy": "60"
440
+ },
441
+ "parent_body": "mobilebase0_support"
442
+ },
443
+ "robot0_frontview": {
444
+ "pos": [
445
+ -0.5,
446
+ 0,
447
+ 0.95
448
+ ],
449
+ "quat": [
450
+ 0.6088936924934387,
451
+ 0.3814677894115448,
452
+ -0.3673907518386841,
453
+ -0.5905545353889465
454
+ ],
455
+ "camera_attribs": {
456
+ "fovy": "60"
457
+ },
458
+ "parent_body": "mobilebase0_support"
459
+ },
460
+ "robot0_eye_in_hand": {
461
+ "pos": [
462
+ 0.05,
463
+ 0,
464
+ 0
465
+ ],
466
+ "quat": [
467
+ 0,
468
+ 0.707107,
469
+ 0.707107,
470
+ 0
471
+ ],
472
+ "parent_body": "robot0_right_hand"
473
+ }
474
+ },
475
+ "init_robot_base_pos": [
476
+ 5.622383505550232,
477
+ -0.9607320577916724,
478
+ 0.0
479
+ ],
480
+ "init_robot_base_ori": [
481
+ 0.0,
482
+ 0.0,
483
+ 1.5707888166096549
484
+ ]
485
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000013/ep_meta.json ADDED
@@ -0,0 +1,693 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 25,
3
+ "style_id": 44,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_18/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.01061628440965269,
36
+ -0.20417517384924028,
37
+ -0.12513994082786392
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.245475224055,
55
+ 0.24547526901,
56
+ 0.01497314187
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 3.353,
87
+ 1.4
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1227376120275,
108
+ 0.1227376120275
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_20/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1227376120275,
144
+ 0.1227376120275
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "apple",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1",
161
+ "group1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "apple",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_1/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_left_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_left_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "floor_1_room": {
193
+ "cls": "Floor"
194
+ },
195
+ "floor_1_backing_room": {
196
+ "cls": "Floor"
197
+ },
198
+ "wall_accessory_1_room": {
199
+ "cls": "WallAccessory"
200
+ },
201
+ "wall_accessory_2_room": {
202
+ "cls": "WallAccessory"
203
+ },
204
+ "light_switch_1_room": {
205
+ "cls": "WallAccessory"
206
+ },
207
+ "wall_accessory_3_room": {
208
+ "cls": "WallAccessory"
209
+ },
210
+ "light_switch_2_room": {
211
+ "cls": "WallAccessory"
212
+ },
213
+ "light_switch_3_room": {
214
+ "cls": "WallAccessory"
215
+ },
216
+ "wall_accessory_4_room": {
217
+ "cls": "WallAccessory"
218
+ },
219
+ "wall_accessory_5_room": {
220
+ "cls": "WallAccessory"
221
+ },
222
+ "wall_accessory_6_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "wall_accessory_7_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "window_group_1_room": {
229
+ "cls": "Window"
230
+ },
231
+ "window_group_2_room": {
232
+ "cls": "Window"
233
+ },
234
+ "stool_1_room": {
235
+ "cls": "Stool"
236
+ },
237
+ "stool_2_room": {
238
+ "cls": "Stool"
239
+ },
240
+ "counter_corner_main_group": {
241
+ "cls": "Counter"
242
+ },
243
+ "counter_1_main_group": {
244
+ "cls": "Counter"
245
+ },
246
+ "stove_main_group": {
247
+ "cls": "Stove"
248
+ },
249
+ "counter_2_main_group": {
250
+ "cls": "Counter"
251
+ },
252
+ "stack_1_main_group_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_1_main_group_1": {
256
+ "cls": "SingleCabinet"
257
+ },
258
+ "stack_2_main_group_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_2_main_group_1": {
262
+ "cls": "Drawer"
263
+ },
264
+ "stack_2_main_group_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "stack_2_main_group_3": {
268
+ "cls": "Drawer"
269
+ },
270
+ "stack_2_main_group_4": {
271
+ "cls": "Drawer"
272
+ },
273
+ "stack_3_main_group_base": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_3_main_group_1": {
277
+ "cls": "SingleCabinet"
278
+ },
279
+ "box_1_main_group": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_4_main_group_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_4_main_group_1": {
286
+ "cls": "SingleCabinet"
287
+ },
288
+ "stack_5_main_group_base": {
289
+ "cls": "Box"
290
+ },
291
+ "stack_5_main_group_1": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_5_main_group_2": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_5_main_group_3": {
298
+ "cls": "Drawer"
299
+ },
300
+ "stack_5_main_group_4": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_6_main_group_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_6_main_group_1": {
307
+ "cls": "SingleCabinet"
308
+ },
309
+ "box_2_main_group": {
310
+ "cls": "Box"
311
+ },
312
+ "hood_main_group": {
313
+ "cls": "Hood"
314
+ },
315
+ "cab_corner_1_main_group": {
316
+ "cls": "Box"
317
+ },
318
+ "cab_1_main_group": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "cab_1_above_main_group": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "cab_2_main_group": {
325
+ "cls": "SingleCabinet"
326
+ },
327
+ "cab_2_above_main_group": {
328
+ "cls": "SingleCabinet"
329
+ },
330
+ "cab_corner_2_main_group": {
331
+ "cls": "Box"
332
+ },
333
+ "cab_3_main_group": {
334
+ "cls": "SingleCabinet"
335
+ },
336
+ "cab_3_above_main_group": {
337
+ "cls": "SingleCabinet"
338
+ },
339
+ "cab_4_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "cab_4_above_main_group": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "coffee_machine_main_group": {
346
+ "cls": "CoffeeMachine"
347
+ },
348
+ "toaster_main_group": {
349
+ "cls": "Toaster"
350
+ },
351
+ "knife_block_main_group": {
352
+ "cls": "Accessory"
353
+ },
354
+ "sink_1_left_group": {
355
+ "cls": "Sink"
356
+ },
357
+ "counter_1_left_group": {
358
+ "cls": "Counter"
359
+ },
360
+ "box_left_group": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_1_left_group_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_1_left_group_1": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "stack_2_left_group_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_2_left_group_1": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "dishwasher_left_group": {
376
+ "cls": "Dishwasher"
377
+ },
378
+ "stack_3_left_group_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_3_left_group_1": {
382
+ "cls": "Drawer"
383
+ },
384
+ "stack_3_left_group_2": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_4_left_group_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_4_left_group_1": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_4_left_group_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_5_left_group_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_5_left_group_1": {
400
+ "cls": "SingleCabinet"
401
+ },
402
+ "stack_5_left_group_2": {
403
+ "cls": "Drawer"
404
+ },
405
+ "cab_1_left_group": {
406
+ "cls": "HingeCabinet"
407
+ },
408
+ "cab_2_left_group": {
409
+ "cls": "HingeCabinet"
410
+ },
411
+ "cab_3_left_group": {
412
+ "cls": "HingeCabinet"
413
+ },
414
+ "cab_4_left_group": {
415
+ "cls": "SingleCabinet"
416
+ },
417
+ "cab_5_left_group": {
418
+ "cls": "HingeCabinet"
419
+ },
420
+ "cab_6_left_group": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "paper_towel_left_group": {
424
+ "cls": "Accessory"
425
+ },
426
+ "toaster_oven_left_group": {
427
+ "cls": "ToasterOven"
428
+ },
429
+ "corner_counter_right_group": {
430
+ "cls": "Counter"
431
+ },
432
+ "counter_1_right_group": {
433
+ "cls": "Counter"
434
+ },
435
+ "box_right_group": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_1_right_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_1_right_group_1": {
442
+ "cls": "PanelCabinet"
443
+ },
444
+ "fridge_right_group": {
445
+ "cls": "FridgeFrenchDoor"
446
+ },
447
+ "fridge_housing_right_group": {
448
+ "cls": "HousingCabinet"
449
+ },
450
+ "bottom_right_group_base": {
451
+ "cls": "Box"
452
+ },
453
+ "bottom_right_group_1": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "middle_right_group": {
457
+ "cls": "HingeCabinet"
458
+ },
459
+ "microwave_right_group": {
460
+ "cls": "Microwave"
461
+ },
462
+ "microwave_housing_right_group": {
463
+ "cls": "HousingCabinet"
464
+ },
465
+ "top_right_group": {
466
+ "cls": "HingeCabinet"
467
+ },
468
+ "cab_1_right_group": {
469
+ "cls": "HingeCabinet"
470
+ },
471
+ "cab_2_right_group": {
472
+ "cls": "HingeCabinet"
473
+ },
474
+ "counter_2_right_group": {
475
+ "cls": "Counter"
476
+ },
477
+ "stack_2_right_group_base": {
478
+ "cls": "Box"
479
+ },
480
+ "stack_2_right_group_1": {
481
+ "cls": "Drawer"
482
+ },
483
+ "stack_2_right_group_2": {
484
+ "cls": "Drawer"
485
+ },
486
+ "stack_2_right_group_3": {
487
+ "cls": "Drawer"
488
+ },
489
+ "stack_2_right_group_4": {
490
+ "cls": "Drawer"
491
+ },
492
+ "stack_3_right_group_base": {
493
+ "cls": "Box"
494
+ },
495
+ "stack_3_right_group_1": {
496
+ "cls": "HingeCabinet"
497
+ },
498
+ "stack_3_right_group_2": {
499
+ "cls": "Drawer"
500
+ },
501
+ "stack_4_right_group_base": {
502
+ "cls": "Box"
503
+ },
504
+ "stack_4_right_group_1": {
505
+ "cls": "Drawer"
506
+ },
507
+ "stack_4_right_group_2": {
508
+ "cls": "Drawer"
509
+ },
510
+ "stack_4_right_group_3": {
511
+ "cls": "Drawer"
512
+ },
513
+ "stack_4_right_group_4": {
514
+ "cls": "Drawer"
515
+ },
516
+ "plant_right_group": {
517
+ "cls": "Accessory"
518
+ },
519
+ "island_island_group_1": {
520
+ "cls": "Counter"
521
+ },
522
+ "stack_1_island_group_1_base": {
523
+ "cls": "Box"
524
+ },
525
+ "stack_1_island_group_1_1": {
526
+ "cls": "SingleCabinet"
527
+ },
528
+ "stack_1_island_group_1_2": {
529
+ "cls": "Drawer"
530
+ },
531
+ "stack_2_island_group_1_base": {
532
+ "cls": "Box"
533
+ },
534
+ "stack_2_island_group_1_1": {
535
+ "cls": "SingleCabinet"
536
+ },
537
+ "stack_2_island_group_1_2": {
538
+ "cls": "Drawer"
539
+ },
540
+ "stack_3_island_group_1_base": {
541
+ "cls": "Box"
542
+ },
543
+ "stack_3_island_group_1_1": {
544
+ "cls": "SingleCabinet"
545
+ },
546
+ "stack_3_island_group_1_2": {
547
+ "cls": "Drawer"
548
+ },
549
+ "stack_4_island_group_1_base": {
550
+ "cls": "Box"
551
+ },
552
+ "stack_4_island_group_1_1": {
553
+ "cls": "SingleCabinet"
554
+ },
555
+ "stack_4_island_group_1_2": {
556
+ "cls": "Drawer"
557
+ },
558
+ "stack_1_island_group_2_base": {
559
+ "cls": "Box"
560
+ },
561
+ "stack_1_island_group_2_1": {
562
+ "cls": "SingleCabinet"
563
+ },
564
+ "stack_1_island_group_2_2": {
565
+ "cls": "Drawer"
566
+ },
567
+ "stack_2_island_group_2_base": {
568
+ "cls": "Box"
569
+ },
570
+ "stack_2_island_group_2_1": {
571
+ "cls": "SingleCabinet"
572
+ },
573
+ "stack_2_island_group_2_2": {
574
+ "cls": "Drawer"
575
+ },
576
+ "stack_3_island_group_2_base": {
577
+ "cls": "Box"
578
+ },
579
+ "stack_3_island_group_2_1": {
580
+ "cls": "SingleCabinet"
581
+ },
582
+ "stack_3_island_group_2_2": {
583
+ "cls": "Drawer"
584
+ },
585
+ "stack_4_island_group_2_base": {
586
+ "cls": "Box"
587
+ },
588
+ "stack_4_island_group_2_1": {
589
+ "cls": "SingleCabinet"
590
+ },
591
+ "stack_4_island_group_2_2": {
592
+ "cls": "Drawer"
593
+ }
594
+ },
595
+ "gen_textures": {},
596
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
597
+ "fixture_refs": {
598
+ "stool": "stool_2_room",
599
+ "dining_counter": "island_island_group_1",
600
+ "coffee_machine": "coffee_machine_main_group"
601
+ },
602
+ "cam_configs": {
603
+ "robot0_agentview_center": {
604
+ "pos": [
605
+ -0.6,
606
+ 0.0,
607
+ 1.15
608
+ ],
609
+ "quat": [
610
+ 0.636945903301239,
611
+ 0.3325185477733612,
612
+ -0.3199238181114197,
613
+ -0.6175596117973328
614
+ ],
615
+ "parent_body": "mobilebase0_support"
616
+ },
617
+ "robot0_agentview_left": {
618
+ "pos": [
619
+ -0.5,
620
+ 0.35,
621
+ 1.05
622
+ ],
623
+ "quat": [
624
+ 0.55623853,
625
+ 0.29935253,
626
+ -0.37678665,
627
+ -0.6775092
628
+ ],
629
+ "camera_attribs": {
630
+ "fovy": "60"
631
+ },
632
+ "parent_body": "mobilebase0_support"
633
+ },
634
+ "robot0_agentview_right": {
635
+ "pos": [
636
+ -0.5,
637
+ -0.35,
638
+ 1.05
639
+ ],
640
+ "quat": [
641
+ 0.6775091886520386,
642
+ 0.3767866790294647,
643
+ -0.2993525564670563,
644
+ -0.55623859167099
645
+ ],
646
+ "camera_attribs": {
647
+ "fovy": "60"
648
+ },
649
+ "parent_body": "mobilebase0_support"
650
+ },
651
+ "robot0_frontview": {
652
+ "pos": [
653
+ -0.5,
654
+ 0,
655
+ 0.95
656
+ ],
657
+ "quat": [
658
+ 0.6088936924934387,
659
+ 0.3814677894115448,
660
+ -0.3673907518386841,
661
+ -0.5905545353889465
662
+ ],
663
+ "camera_attribs": {
664
+ "fovy": "60"
665
+ },
666
+ "parent_body": "mobilebase0_support"
667
+ },
668
+ "robot0_eye_in_hand": {
669
+ "pos": [
670
+ 0.05,
671
+ 0,
672
+ 0
673
+ ],
674
+ "quat": [
675
+ 0,
676
+ 0.707107,
677
+ 0.707107,
678
+ 0
679
+ ],
680
+ "parent_body": "robot0_right_hand"
681
+ }
682
+ },
683
+ "init_robot_base_pos": [
684
+ 3.6783251588696144,
685
+ -0.8432540726248722,
686
+ 0.0
687
+ ],
688
+ "init_robot_base_ori": [
689
+ 0.0,
690
+ 0.0,
691
+ 1.5707963267948966
692
+ ]
693
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000014/ep_meta.json ADDED
@@ -0,0 +1,691 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 25,
3
+ "style_id": 13,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_18/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 2.2641872490665984e-09,
36
+ -0.191745598501946,
37
+ -0.12257810296689056
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.245914494345,
55
+ 0.24590248636500003,
56
+ 0.033029782155
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 3.353,
87
+ 1.4
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12295124318250002,
108
+ 0.12295124318250002
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread007/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12295124318250002,
144
+ 0.12295124318250002
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "kiwi",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "kiwi",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "floor_1_room": {
191
+ "cls": "Floor"
192
+ },
193
+ "floor_1_backing_room": {
194
+ "cls": "Floor"
195
+ },
196
+ "wall_accessory_1_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "wall_accessory_2_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "light_switch_1_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wall_accessory_3_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "light_switch_2_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "light_switch_3_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wall_accessory_4_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wall_accessory_5_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wall_accessory_6_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wall_accessory_7_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "window_group_1_room": {
227
+ "cls": "Window"
228
+ },
229
+ "window_group_2_room": {
230
+ "cls": "Window"
231
+ },
232
+ "stool_1_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_2_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "counter_corner_main_group": {
239
+ "cls": "Counter"
240
+ },
241
+ "counter_1_main_group": {
242
+ "cls": "Counter"
243
+ },
244
+ "stove_main_group": {
245
+ "cls": "Stove"
246
+ },
247
+ "counter_2_main_group": {
248
+ "cls": "Counter"
249
+ },
250
+ "stack_1_main_group_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_1_main_group_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "stack_2_main_group_base": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_2_main_group_1": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_2_main_group_2": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_2_main_group_3": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_2_main_group_4": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_3_main_group_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_3_main_group_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "box_1_main_group": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_4_main_group_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_4_main_group_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_5_main_group_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_5_main_group_1": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_5_main_group_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_5_main_group_3": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_5_main_group_4": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_6_main_group_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_6_main_group_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "box_2_main_group": {
308
+ "cls": "Box"
309
+ },
310
+ "hood_main_group": {
311
+ "cls": "Hood"
312
+ },
313
+ "cab_corner_1_main_group": {
314
+ "cls": "Box"
315
+ },
316
+ "cab_1_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_1_above_main_group": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "cab_2_main_group": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "cab_2_above_main_group": {
326
+ "cls": "SingleCabinet"
327
+ },
328
+ "cab_corner_2_main_group": {
329
+ "cls": "Box"
330
+ },
331
+ "cab_3_main_group": {
332
+ "cls": "SingleCabinet"
333
+ },
334
+ "cab_3_above_main_group": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "cab_4_main_group": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "cab_4_above_main_group": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "coffee_machine_main_group": {
344
+ "cls": "CoffeeMachine"
345
+ },
346
+ "toaster_main_group": {
347
+ "cls": "Toaster"
348
+ },
349
+ "knife_block_main_group": {
350
+ "cls": "Accessory"
351
+ },
352
+ "sink_1_left_group": {
353
+ "cls": "Sink"
354
+ },
355
+ "counter_1_left_group": {
356
+ "cls": "Counter"
357
+ },
358
+ "box_left_group": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_left_group_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_1_left_group_1": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "stack_2_left_group_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_2_left_group_1": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "dishwasher_left_group": {
374
+ "cls": "Dishwasher"
375
+ },
376
+ "stack_3_left_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_3_left_group_1": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_3_left_group_2": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_4_left_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_4_left_group_1": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_4_left_group_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_5_left_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_5_left_group_1": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "stack_5_left_group_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "cab_1_left_group": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "cab_2_left_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "cab_3_left_group": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "cab_4_left_group": {
413
+ "cls": "SingleCabinet"
414
+ },
415
+ "cab_5_left_group": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "cab_6_left_group": {
419
+ "cls": "HingeCabinet"
420
+ },
421
+ "paper_towel_left_group": {
422
+ "cls": "Accessory"
423
+ },
424
+ "toaster_oven_left_group": {
425
+ "cls": "ToasterOven"
426
+ },
427
+ "corner_counter_right_group": {
428
+ "cls": "Counter"
429
+ },
430
+ "counter_1_right_group": {
431
+ "cls": "Counter"
432
+ },
433
+ "box_right_group": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_1_right_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_1_right_group_1": {
440
+ "cls": "PanelCabinet"
441
+ },
442
+ "fridge_right_group": {
443
+ "cls": "FridgeFrenchDoor"
444
+ },
445
+ "fridge_housing_right_group": {
446
+ "cls": "HousingCabinet"
447
+ },
448
+ "bottom_right_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "bottom_right_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "middle_right_group": {
455
+ "cls": "HingeCabinet"
456
+ },
457
+ "microwave_right_group": {
458
+ "cls": "Microwave"
459
+ },
460
+ "microwave_housing_right_group": {
461
+ "cls": "HousingCabinet"
462
+ },
463
+ "top_right_group": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "cab_1_right_group": {
467
+ "cls": "HingeCabinet"
468
+ },
469
+ "cab_2_right_group": {
470
+ "cls": "HingeCabinet"
471
+ },
472
+ "counter_2_right_group": {
473
+ "cls": "Counter"
474
+ },
475
+ "stack_2_right_group_base": {
476
+ "cls": "Box"
477
+ },
478
+ "stack_2_right_group_1": {
479
+ "cls": "Drawer"
480
+ },
481
+ "stack_2_right_group_2": {
482
+ "cls": "Drawer"
483
+ },
484
+ "stack_2_right_group_3": {
485
+ "cls": "Drawer"
486
+ },
487
+ "stack_2_right_group_4": {
488
+ "cls": "Drawer"
489
+ },
490
+ "stack_3_right_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_3_right_group_1": {
494
+ "cls": "HingeCabinet"
495
+ },
496
+ "stack_3_right_group_2": {
497
+ "cls": "Drawer"
498
+ },
499
+ "stack_4_right_group_base": {
500
+ "cls": "Box"
501
+ },
502
+ "stack_4_right_group_1": {
503
+ "cls": "Drawer"
504
+ },
505
+ "stack_4_right_group_2": {
506
+ "cls": "Drawer"
507
+ },
508
+ "stack_4_right_group_3": {
509
+ "cls": "Drawer"
510
+ },
511
+ "stack_4_right_group_4": {
512
+ "cls": "Drawer"
513
+ },
514
+ "plant_right_group": {
515
+ "cls": "Accessory"
516
+ },
517
+ "island_island_group_1": {
518
+ "cls": "Counter"
519
+ },
520
+ "stack_1_island_group_1_base": {
521
+ "cls": "Box"
522
+ },
523
+ "stack_1_island_group_1_1": {
524
+ "cls": "SingleCabinet"
525
+ },
526
+ "stack_1_island_group_1_2": {
527
+ "cls": "Drawer"
528
+ },
529
+ "stack_2_island_group_1_base": {
530
+ "cls": "Box"
531
+ },
532
+ "stack_2_island_group_1_1": {
533
+ "cls": "SingleCabinet"
534
+ },
535
+ "stack_2_island_group_1_2": {
536
+ "cls": "Drawer"
537
+ },
538
+ "stack_3_island_group_1_base": {
539
+ "cls": "Box"
540
+ },
541
+ "stack_3_island_group_1_1": {
542
+ "cls": "SingleCabinet"
543
+ },
544
+ "stack_3_island_group_1_2": {
545
+ "cls": "Drawer"
546
+ },
547
+ "stack_4_island_group_1_base": {
548
+ "cls": "Box"
549
+ },
550
+ "stack_4_island_group_1_1": {
551
+ "cls": "SingleCabinet"
552
+ },
553
+ "stack_4_island_group_1_2": {
554
+ "cls": "Drawer"
555
+ },
556
+ "stack_1_island_group_2_base": {
557
+ "cls": "Box"
558
+ },
559
+ "stack_1_island_group_2_1": {
560
+ "cls": "SingleCabinet"
561
+ },
562
+ "stack_1_island_group_2_2": {
563
+ "cls": "Drawer"
564
+ },
565
+ "stack_2_island_group_2_base": {
566
+ "cls": "Box"
567
+ },
568
+ "stack_2_island_group_2_1": {
569
+ "cls": "SingleCabinet"
570
+ },
571
+ "stack_2_island_group_2_2": {
572
+ "cls": "Drawer"
573
+ },
574
+ "stack_3_island_group_2_base": {
575
+ "cls": "Box"
576
+ },
577
+ "stack_3_island_group_2_1": {
578
+ "cls": "SingleCabinet"
579
+ },
580
+ "stack_3_island_group_2_2": {
581
+ "cls": "Drawer"
582
+ },
583
+ "stack_4_island_group_2_base": {
584
+ "cls": "Box"
585
+ },
586
+ "stack_4_island_group_2_1": {
587
+ "cls": "SingleCabinet"
588
+ },
589
+ "stack_4_island_group_2_2": {
590
+ "cls": "Drawer"
591
+ }
592
+ },
593
+ "gen_textures": {},
594
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
595
+ "fixture_refs": {
596
+ "stool": "stool_1_room",
597
+ "dining_counter": "island_island_group_1",
598
+ "coffee_machine": "coffee_machine_main_group"
599
+ },
600
+ "cam_configs": {
601
+ "robot0_agentview_center": {
602
+ "pos": [
603
+ -0.6,
604
+ 0.0,
605
+ 1.15
606
+ ],
607
+ "quat": [
608
+ 0.636945903301239,
609
+ 0.3325185477733612,
610
+ -0.3199238181114197,
611
+ -0.6175596117973328
612
+ ],
613
+ "parent_body": "mobilebase0_support"
614
+ },
615
+ "robot0_agentview_left": {
616
+ "pos": [
617
+ -0.5,
618
+ 0.35,
619
+ 1.05
620
+ ],
621
+ "quat": [
622
+ 0.55623853,
623
+ 0.29935253,
624
+ -0.37678665,
625
+ -0.6775092
626
+ ],
627
+ "camera_attribs": {
628
+ "fovy": "60"
629
+ },
630
+ "parent_body": "mobilebase0_support"
631
+ },
632
+ "robot0_agentview_right": {
633
+ "pos": [
634
+ -0.5,
635
+ -0.35,
636
+ 1.05
637
+ ],
638
+ "quat": [
639
+ 0.6775091886520386,
640
+ 0.3767866790294647,
641
+ -0.2993525564670563,
642
+ -0.55623859167099
643
+ ],
644
+ "camera_attribs": {
645
+ "fovy": "60"
646
+ },
647
+ "parent_body": "mobilebase0_support"
648
+ },
649
+ "robot0_frontview": {
650
+ "pos": [
651
+ -0.5,
652
+ 0,
653
+ 0.95
654
+ ],
655
+ "quat": [
656
+ 0.6088936924934387,
657
+ 0.3814677894115448,
658
+ -0.3673907518386841,
659
+ -0.5905545353889465
660
+ ],
661
+ "camera_attribs": {
662
+ "fovy": "60"
663
+ },
664
+ "parent_body": "mobilebase0_support"
665
+ },
666
+ "robot0_eye_in_hand": {
667
+ "pos": [
668
+ 0.05,
669
+ 0,
670
+ 0
671
+ ],
672
+ "quat": [
673
+ 0,
674
+ 0.707107,
675
+ 0.707107,
676
+ 0
677
+ ],
678
+ "parent_body": "robot0_right_hand"
679
+ }
680
+ },
681
+ "init_robot_base_pos": [
682
+ 3.954081039055871,
683
+ -0.7790676225936137,
684
+ 0.0
685
+ ],
686
+ "init_robot_base_ori": [
687
+ 0.0,
688
+ 0.0,
689
+ 1.5707963267948966
690
+ ]
691
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000015/ep_meta.json ADDED
@@ -0,0 +1,501 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 45,
3
+ "style_id": 20,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_10/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.010759269537085697,
36
+ -0.1844060865051405,
37
+ -0.13090862073002926
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.24499104372000002,
55
+ 0.24499081394999997,
56
+ 0.02685923388
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.9939999539108983,
87
+ 1.04
88
+ ],
89
+ "offset": [
90
+ -0.028000023044550737,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12249540697499998,
108
+ 0.12249540697499998
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12249540697499998,
144
+ 0.12249540697499998
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "banana",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1",
161
+ "group1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "banana",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_4/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_left_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_left_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_1_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_1_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_main_2_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_main_2_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "floor_1_room": {
199
+ "cls": "Floor"
200
+ },
201
+ "floor_1_backing_room": {
202
+ "cls": "Floor"
203
+ },
204
+ "floor_2_room": {
205
+ "cls": "Floor"
206
+ },
207
+ "floor_2_backing_room": {
208
+ "cls": "Floor"
209
+ },
210
+ "wallaccessory_room": {
211
+ "cls": "WallAccessory"
212
+ },
213
+ "lightswitch_room": {
214
+ "cls": "WallAccessory"
215
+ },
216
+ "wallaccessory.003_room": {
217
+ "cls": "WallAccessory"
218
+ },
219
+ "wallaccessory.004_room": {
220
+ "cls": "WallAccessory"
221
+ },
222
+ "wallaccessory.002_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "window_group_1_room": {
226
+ "cls": "Window"
227
+ },
228
+ "window_group_2_room": {
229
+ "cls": "Window"
230
+ },
231
+ "stool_1_room": {
232
+ "cls": "Stool"
233
+ },
234
+ "stool_2_room": {
235
+ "cls": "Stool"
236
+ },
237
+ "stool_3_room": {
238
+ "cls": "Stool"
239
+ },
240
+ "counter_corner_1_main_group_1": {
241
+ "cls": "Counter"
242
+ },
243
+ "sink_main_group_1": {
244
+ "cls": "Sink"
245
+ },
246
+ "counter_1_main_group_1": {
247
+ "cls": "Counter"
248
+ },
249
+ "stack_1_main_group_1_base": {
250
+ "cls": "Box"
251
+ },
252
+ "stack_1_main_group_1_1": {
253
+ "cls": "HingeCabinet"
254
+ },
255
+ "hingecabinet_1_main_group_1": {
256
+ "cls": "HingeCabinet"
257
+ },
258
+ "stack_3_main_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_3_main_group_1_1": {
262
+ "cls": "SingleCabinet"
263
+ },
264
+ "stack_3_main_group_1_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "stack_4_main_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "stack_4_main_group_1_1": {
271
+ "cls": "SingleCabinet"
272
+ },
273
+ "cube_1_main_group_1": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_2_main_group_1_base": {
277
+ "cls": "Box"
278
+ },
279
+ "stack_2_main_group_1_1": {
280
+ "cls": "HingeCabinet"
281
+ },
282
+ "dishwasher_1_main_group_1": {
283
+ "cls": "Dishwasher"
284
+ },
285
+ "cube_2_main_group_1": {
286
+ "cls": "Box"
287
+ },
288
+ "coffee_machine_main_group_1": {
289
+ "cls": "CoffeeMachine"
290
+ },
291
+ "knife_block_main_group_1": {
292
+ "cls": "Accessory"
293
+ },
294
+ "paper_towel_main_group_1": {
295
+ "cls": "Accessory"
296
+ },
297
+ "counter_1_right_group_1": {
298
+ "cls": "Counter"
299
+ },
300
+ "stove_right_group_1": {
301
+ "cls": "Stove"
302
+ },
303
+ "microwave_right_group_1": {
304
+ "cls": "Microwave"
305
+ },
306
+ "micro_cab_right_group_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "counter_2_right_group_1": {
310
+ "cls": "Counter"
311
+ },
312
+ "fridgesidebyside_right_group_1": {
313
+ "cls": "FridgeSideBySide"
314
+ },
315
+ "fridgesidebyside_housing_right_group_1": {
316
+ "cls": "HousingCabinet"
317
+ },
318
+ "hingecabinet_5_right_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "hingecabinet_4_right_group_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "hingecabinet_1_right_group_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "hingecabinet_2_right_group_1": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "toaster_right_group_1": {
331
+ "cls": "Toaster"
332
+ },
333
+ "cube_1_right_group_1": {
334
+ "cls": "Box"
335
+ },
336
+ "cube_2_right_group_1": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_2_right_group_1_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_2_right_group_1_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "stack_2_right_group_1_2": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_3_right_group_1_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_3_right_group_1_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "stack_3_right_group_1_2": {
355
+ "cls": "Drawer"
356
+ },
357
+ "island_island_group_1": {
358
+ "cls": "Counter"
359
+ },
360
+ "cube_island_group_1": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_1_island_group_1_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_1_island_group_1_1": {
367
+ "cls": "SingleCabinet"
368
+ },
369
+ "stack_1_island_group_1_2": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_2_island_group_1_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_2_island_group_1_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "stack_2_island_group_1_2": {
379
+ "cls": "Drawer"
380
+ },
381
+ "stack_3_island_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_3_island_group_1_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "stack_3_island_group_1_2": {
388
+ "cls": "Drawer"
389
+ },
390
+ "panelbox_2_island_group_1_base": {
391
+ "cls": "Box"
392
+ },
393
+ "panelbox_2_island_group_1_1": {
394
+ "cls": "PanelCabinet"
395
+ },
396
+ "panelbox_1_island_group_1_base": {
397
+ "cls": "Box"
398
+ },
399
+ "panelbox_1_island_group_1_1": {
400
+ "cls": "PanelCabinet"
401
+ }
402
+ },
403
+ "gen_textures": {},
404
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
405
+ "fixture_refs": {
406
+ "stool": "stool_2_room",
407
+ "dining_counter": "island_island_group_1",
408
+ "coffee_machine": "coffee_machine_main_group_1"
409
+ },
410
+ "cam_configs": {
411
+ "robot0_agentview_center": {
412
+ "pos": [
413
+ -0.6,
414
+ 0.0,
415
+ 1.15
416
+ ],
417
+ "quat": [
418
+ 0.636945903301239,
419
+ 0.3325185477733612,
420
+ -0.3199238181114197,
421
+ -0.6175596117973328
422
+ ],
423
+ "parent_body": "mobilebase0_support"
424
+ },
425
+ "robot0_agentview_left": {
426
+ "pos": [
427
+ -0.5,
428
+ 0.35,
429
+ 1.05
430
+ ],
431
+ "quat": [
432
+ 0.55623853,
433
+ 0.29935253,
434
+ -0.37678665,
435
+ -0.6775092
436
+ ],
437
+ "camera_attribs": {
438
+ "fovy": "60"
439
+ },
440
+ "parent_body": "mobilebase0_support"
441
+ },
442
+ "robot0_agentview_right": {
443
+ "pos": [
444
+ -0.5,
445
+ -0.35,
446
+ 1.05
447
+ ],
448
+ "quat": [
449
+ 0.6775091886520386,
450
+ 0.3767866790294647,
451
+ -0.2993525564670563,
452
+ -0.55623859167099
453
+ ],
454
+ "camera_attribs": {
455
+ "fovy": "60"
456
+ },
457
+ "parent_body": "mobilebase0_support"
458
+ },
459
+ "robot0_frontview": {
460
+ "pos": [
461
+ -0.5,
462
+ 0,
463
+ 0.95
464
+ ],
465
+ "quat": [
466
+ 0.6088936924934387,
467
+ 0.3814677894115448,
468
+ -0.3673907518386841,
469
+ -0.5905545353889465
470
+ ],
471
+ "camera_attribs": {
472
+ "fovy": "60"
473
+ },
474
+ "parent_body": "mobilebase0_support"
475
+ },
476
+ "robot0_eye_in_hand": {
477
+ "pos": [
478
+ 0.05,
479
+ 0,
480
+ 0
481
+ ],
482
+ "quat": [
483
+ 0,
484
+ 0.707107,
485
+ 0.707107,
486
+ 0
487
+ ],
488
+ "parent_body": "robot0_right_hand"
489
+ }
490
+ },
491
+ "init_robot_base_pos": [
492
+ 2.119148876474494,
493
+ -0.8065146632918415,
494
+ 0.0
495
+ ],
496
+ "init_robot_base_ori": [
497
+ 0.0,
498
+ 0.0,
499
+ 1.5707963267948966
500
+ ]
501
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000016/ep_meta.json ADDED
@@ -0,0 +1,506 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 30,
3
+ "style_id": 41,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.01571272174708326,
36
+ -0.056516300219675,
37
+ -0.12788324250604552
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "dining_front_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.2566317107223312,
55
+ 0.2543053154683122,
56
+ 0.07540958341449114
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.75,
87
+ 0.95
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1271526577341561,
108
+ 0.1271526577341561
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_19/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1271526577341561,
144
+ 0.1271526577341561
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "cheese",
157
+ "dairy",
158
+ "food",
159
+ "in_container",
160
+ "food_set1"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "cheese",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_main_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_main_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_left_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_left_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_right_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_right_1_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "floor_1_room": {
192
+ "cls": "Floor"
193
+ },
194
+ "floor_1_backing_room": {
195
+ "cls": "Floor"
196
+ },
197
+ "wall_accessory_1_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "wall_accessory_2_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "light_switch_1_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "ligh_switch_2_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "light_switch_3_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "light_switch_4_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "wall_accessory_3_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "wall_accessory_4_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "wall_accessory_5_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "window_group_1_room": {
225
+ "cls": "Window"
226
+ },
227
+ "window_group_2_room": {
228
+ "cls": "Window"
229
+ },
230
+ "window_group_3_room": {
231
+ "cls": "Window"
232
+ },
233
+ "stool_1_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "stool_2_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "counter_1_left_group": {
240
+ "cls": "Counter"
241
+ },
242
+ "stove_left_group": {
243
+ "cls": "Stove"
244
+ },
245
+ "counter_2_left_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stack_1_left_group_base": {
249
+ "cls": "Box"
250
+ },
251
+ "stack_1_left_group_1": {
252
+ "cls": "Drawer"
253
+ },
254
+ "stack_1_left_group_2": {
255
+ "cls": "Drawer"
256
+ },
257
+ "stack_1_left_group_3": {
258
+ "cls": "Drawer"
259
+ },
260
+ "stack_2_left_group_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_2_left_group_1": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_2_left_group_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_2_left_group_3": {
270
+ "cls": "Drawer"
271
+ },
272
+ "stack_3_left_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_3_left_group_1": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_3_left_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_3_left_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_4_left_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_4_left_group_1": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_4_left_group_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_4_left_group_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "fridge_left_group": {
297
+ "cls": "FridgeFrenchDoor"
298
+ },
299
+ "fridge_housing_left_group": {
300
+ "cls": "HousingCabinet"
301
+ },
302
+ "cab_1_left_group": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "cab_2_left_group": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "microwave_left_group": {
309
+ "cls": "Microwave"
310
+ },
311
+ "cab_3_left_group": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "cab_4_left_group": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "cab_5_left_group": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "cab_6_left_group": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "toaster_oven_left_group": {
324
+ "cls": "ToasterOven"
325
+ },
326
+ "coffee_machine_left_group": {
327
+ "cls": "CoffeeMachine"
328
+ },
329
+ "paper_towel_left_group": {
330
+ "cls": "Accessory"
331
+ },
332
+ "sink_right_group": {
333
+ "cls": "Sink"
334
+ },
335
+ "counter_1_right_group": {
336
+ "cls": "Counter"
337
+ },
338
+ "stack_1_right_group_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_1_right_group_1": {
342
+ "cls": "SingleCabinet"
343
+ },
344
+ "dishwasher_right_group": {
345
+ "cls": "Dishwasher"
346
+ },
347
+ "stack_2_right_group_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_2_right_group_1": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "stack_3_right_group_base": {
354
+ "cls": "Box"
355
+ },
356
+ "stack_3_right_group_1": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_3_right_group_2": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_4_right_group_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_4_right_group_1": {
366
+ "cls": "SingleCabinet"
367
+ },
368
+ "box_right_group": {
369
+ "cls": "Box"
370
+ },
371
+ "cab_1_right_group": {
372
+ "cls": "OpenCabinet"
373
+ },
374
+ "cab_2_right_group": {
375
+ "cls": "OpenCabinet"
376
+ },
377
+ "toaster_right_group": {
378
+ "cls": "Toaster"
379
+ },
380
+ "dining_front_group": {
381
+ "cls": "Counter"
382
+ },
383
+ "box_front_group": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_1_front_group_base": {
387
+ "cls": "Box"
388
+ },
389
+ "stack_1_front_group_1": {
390
+ "cls": "SingleCabinet"
391
+ },
392
+ "stack_2_front_group_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_2_front_group_1": {
396
+ "cls": "Drawer"
397
+ },
398
+ "stack_2_front_group_2": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_2_front_group_3": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_2_front_group_4": {
405
+ "cls": "Drawer"
406
+ }
407
+ },
408
+ "gen_textures": {},
409
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
410
+ "fixture_refs": {
411
+ "stool": "stool_1_room",
412
+ "dining_counter": "dining_front_group",
413
+ "coffee_machine": "coffee_machine_left_group"
414
+ },
415
+ "cam_configs": {
416
+ "robot0_agentview_center": {
417
+ "pos": [
418
+ -0.6,
419
+ 0.0,
420
+ 1.15
421
+ ],
422
+ "quat": [
423
+ 0.636945903301239,
424
+ 0.3325185477733612,
425
+ -0.3199238181114197,
426
+ -0.6175596117973328
427
+ ],
428
+ "parent_body": "mobilebase0_support"
429
+ },
430
+ "robot0_agentview_left": {
431
+ "pos": [
432
+ -0.5,
433
+ 0.35,
434
+ 1.05
435
+ ],
436
+ "quat": [
437
+ 0.55623853,
438
+ 0.29935253,
439
+ -0.37678665,
440
+ -0.6775092
441
+ ],
442
+ "camera_attribs": {
443
+ "fovy": "60"
444
+ },
445
+ "parent_body": "mobilebase0_support"
446
+ },
447
+ "robot0_agentview_right": {
448
+ "pos": [
449
+ -0.5,
450
+ -0.35,
451
+ 1.05
452
+ ],
453
+ "quat": [
454
+ 0.6775091886520386,
455
+ 0.3767866790294647,
456
+ -0.2993525564670563,
457
+ -0.55623859167099
458
+ ],
459
+ "camera_attribs": {
460
+ "fovy": "60"
461
+ },
462
+ "parent_body": "mobilebase0_support"
463
+ },
464
+ "robot0_frontview": {
465
+ "pos": [
466
+ -0.5,
467
+ 0,
468
+ 0.95
469
+ ],
470
+ "quat": [
471
+ 0.6088936924934387,
472
+ 0.3814677894115448,
473
+ -0.3673907518386841,
474
+ -0.5905545353889465
475
+ ],
476
+ "camera_attribs": {
477
+ "fovy": "60"
478
+ },
479
+ "parent_body": "mobilebase0_support"
480
+ },
481
+ "robot0_eye_in_hand": {
482
+ "pos": [
483
+ 0.05,
484
+ 0,
485
+ 0
486
+ ],
487
+ "quat": [
488
+ 0,
489
+ 0.707107,
490
+ 0.707107,
491
+ 0
492
+ ],
493
+ "parent_body": "robot0_right_hand"
494
+ }
495
+ },
496
+ "init_robot_base_pos": [
497
+ 0.8213292310202073,
498
+ -4.673044607439847,
499
+ 0.0
500
+ ],
501
+ "init_robot_base_ori": [
502
+ 0.0,
503
+ 0.0,
504
+ 3.1415926193612504
505
+ ]
506
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000018/ep_meta.json ADDED
@@ -0,0 +1,691 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 25,
3
+ "style_id": 25,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.0006123392200846125,
36
+ -0.19533501099952028,
37
+ -0.13360972642343225
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.24709981284000002,
55
+ 0.24709756509000005,
56
+ 0.021416774287499996
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 3.353,
87
+ 1.4
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12354878254500003,
108
+ 0.12354878254500003
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_19/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12354878254500003,
144
+ 0.12354878254500003
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "peach",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "peach",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "floor_1_room": {
191
+ "cls": "Floor"
192
+ },
193
+ "floor_1_backing_room": {
194
+ "cls": "Floor"
195
+ },
196
+ "wall_accessory_1_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "wall_accessory_2_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "light_switch_1_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wall_accessory_3_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "light_switch_2_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "light_switch_3_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wall_accessory_4_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wall_accessory_5_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wall_accessory_6_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wall_accessory_7_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "window_group_1_room": {
227
+ "cls": "Window"
228
+ },
229
+ "window_group_2_room": {
230
+ "cls": "Window"
231
+ },
232
+ "stool_1_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_2_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "counter_corner_main_group": {
239
+ "cls": "Counter"
240
+ },
241
+ "counter_1_main_group": {
242
+ "cls": "Counter"
243
+ },
244
+ "stove_main_group": {
245
+ "cls": "Stove"
246
+ },
247
+ "counter_2_main_group": {
248
+ "cls": "Counter"
249
+ },
250
+ "stack_1_main_group_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_1_main_group_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "stack_2_main_group_base": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_2_main_group_1": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_2_main_group_2": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_2_main_group_3": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_2_main_group_4": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_3_main_group_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_3_main_group_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "box_1_main_group": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_4_main_group_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_4_main_group_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_5_main_group_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_5_main_group_1": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_5_main_group_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_5_main_group_3": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_5_main_group_4": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_6_main_group_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_6_main_group_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "box_2_main_group": {
308
+ "cls": "Box"
309
+ },
310
+ "hood_main_group": {
311
+ "cls": "Hood"
312
+ },
313
+ "cab_corner_1_main_group": {
314
+ "cls": "Box"
315
+ },
316
+ "cab_1_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_1_above_main_group": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "cab_2_main_group": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "cab_2_above_main_group": {
326
+ "cls": "SingleCabinet"
327
+ },
328
+ "cab_corner_2_main_group": {
329
+ "cls": "Box"
330
+ },
331
+ "cab_3_main_group": {
332
+ "cls": "SingleCabinet"
333
+ },
334
+ "cab_3_above_main_group": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "cab_4_main_group": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "cab_4_above_main_group": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "coffee_machine_main_group": {
344
+ "cls": "CoffeeMachine"
345
+ },
346
+ "toaster_main_group": {
347
+ "cls": "Toaster"
348
+ },
349
+ "knife_block_main_group": {
350
+ "cls": "Accessory"
351
+ },
352
+ "sink_1_left_group": {
353
+ "cls": "Sink"
354
+ },
355
+ "counter_1_left_group": {
356
+ "cls": "Counter"
357
+ },
358
+ "box_left_group": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_left_group_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_1_left_group_1": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "stack_2_left_group_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_2_left_group_1": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "dishwasher_left_group": {
374
+ "cls": "Dishwasher"
375
+ },
376
+ "stack_3_left_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_3_left_group_1": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_3_left_group_2": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_4_left_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_4_left_group_1": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_4_left_group_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_5_left_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_5_left_group_1": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "stack_5_left_group_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "cab_1_left_group": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "cab_2_left_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "cab_3_left_group": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "cab_4_left_group": {
413
+ "cls": "SingleCabinet"
414
+ },
415
+ "cab_5_left_group": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "cab_6_left_group": {
419
+ "cls": "HingeCabinet"
420
+ },
421
+ "paper_towel_left_group": {
422
+ "cls": "Accessory"
423
+ },
424
+ "toaster_oven_left_group": {
425
+ "cls": "ToasterOven"
426
+ },
427
+ "corner_counter_right_group": {
428
+ "cls": "Counter"
429
+ },
430
+ "counter_1_right_group": {
431
+ "cls": "Counter"
432
+ },
433
+ "box_right_group": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_1_right_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_1_right_group_1": {
440
+ "cls": "PanelCabinet"
441
+ },
442
+ "fridge_right_group": {
443
+ "cls": "FridgeFrenchDoor"
444
+ },
445
+ "fridge_housing_right_group": {
446
+ "cls": "HousingCabinet"
447
+ },
448
+ "bottom_right_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "bottom_right_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "middle_right_group": {
455
+ "cls": "HingeCabinet"
456
+ },
457
+ "microwave_right_group": {
458
+ "cls": "Microwave"
459
+ },
460
+ "microwave_housing_right_group": {
461
+ "cls": "HousingCabinet"
462
+ },
463
+ "top_right_group": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "cab_1_right_group": {
467
+ "cls": "HingeCabinet"
468
+ },
469
+ "cab_2_right_group": {
470
+ "cls": "HingeCabinet"
471
+ },
472
+ "counter_2_right_group": {
473
+ "cls": "Counter"
474
+ },
475
+ "stack_2_right_group_base": {
476
+ "cls": "Box"
477
+ },
478
+ "stack_2_right_group_1": {
479
+ "cls": "Drawer"
480
+ },
481
+ "stack_2_right_group_2": {
482
+ "cls": "Drawer"
483
+ },
484
+ "stack_2_right_group_3": {
485
+ "cls": "Drawer"
486
+ },
487
+ "stack_2_right_group_4": {
488
+ "cls": "Drawer"
489
+ },
490
+ "stack_3_right_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_3_right_group_1": {
494
+ "cls": "HingeCabinet"
495
+ },
496
+ "stack_3_right_group_2": {
497
+ "cls": "Drawer"
498
+ },
499
+ "stack_4_right_group_base": {
500
+ "cls": "Box"
501
+ },
502
+ "stack_4_right_group_1": {
503
+ "cls": "Drawer"
504
+ },
505
+ "stack_4_right_group_2": {
506
+ "cls": "Drawer"
507
+ },
508
+ "stack_4_right_group_3": {
509
+ "cls": "Drawer"
510
+ },
511
+ "stack_4_right_group_4": {
512
+ "cls": "Drawer"
513
+ },
514
+ "plant_right_group": {
515
+ "cls": "Accessory"
516
+ },
517
+ "island_island_group_1": {
518
+ "cls": "Counter"
519
+ },
520
+ "stack_1_island_group_1_base": {
521
+ "cls": "Box"
522
+ },
523
+ "stack_1_island_group_1_1": {
524
+ "cls": "SingleCabinet"
525
+ },
526
+ "stack_1_island_group_1_2": {
527
+ "cls": "Drawer"
528
+ },
529
+ "stack_2_island_group_1_base": {
530
+ "cls": "Box"
531
+ },
532
+ "stack_2_island_group_1_1": {
533
+ "cls": "SingleCabinet"
534
+ },
535
+ "stack_2_island_group_1_2": {
536
+ "cls": "Drawer"
537
+ },
538
+ "stack_3_island_group_1_base": {
539
+ "cls": "Box"
540
+ },
541
+ "stack_3_island_group_1_1": {
542
+ "cls": "SingleCabinet"
543
+ },
544
+ "stack_3_island_group_1_2": {
545
+ "cls": "Drawer"
546
+ },
547
+ "stack_4_island_group_1_base": {
548
+ "cls": "Box"
549
+ },
550
+ "stack_4_island_group_1_1": {
551
+ "cls": "SingleCabinet"
552
+ },
553
+ "stack_4_island_group_1_2": {
554
+ "cls": "Drawer"
555
+ },
556
+ "stack_1_island_group_2_base": {
557
+ "cls": "Box"
558
+ },
559
+ "stack_1_island_group_2_1": {
560
+ "cls": "SingleCabinet"
561
+ },
562
+ "stack_1_island_group_2_2": {
563
+ "cls": "Drawer"
564
+ },
565
+ "stack_2_island_group_2_base": {
566
+ "cls": "Box"
567
+ },
568
+ "stack_2_island_group_2_1": {
569
+ "cls": "SingleCabinet"
570
+ },
571
+ "stack_2_island_group_2_2": {
572
+ "cls": "Drawer"
573
+ },
574
+ "stack_3_island_group_2_base": {
575
+ "cls": "Box"
576
+ },
577
+ "stack_3_island_group_2_1": {
578
+ "cls": "SingleCabinet"
579
+ },
580
+ "stack_3_island_group_2_2": {
581
+ "cls": "Drawer"
582
+ },
583
+ "stack_4_island_group_2_base": {
584
+ "cls": "Box"
585
+ },
586
+ "stack_4_island_group_2_1": {
587
+ "cls": "SingleCabinet"
588
+ },
589
+ "stack_4_island_group_2_2": {
590
+ "cls": "Drawer"
591
+ }
592
+ },
593
+ "gen_textures": {},
594
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
595
+ "fixture_refs": {
596
+ "stool": "stool_2_room",
597
+ "dining_counter": "island_island_group_1",
598
+ "coffee_machine": "coffee_machine_main_group"
599
+ },
600
+ "cam_configs": {
601
+ "robot0_agentview_center": {
602
+ "pos": [
603
+ -0.6,
604
+ 0.0,
605
+ 1.15
606
+ ],
607
+ "quat": [
608
+ 0.636945903301239,
609
+ 0.3325185477733612,
610
+ -0.3199238181114197,
611
+ -0.6175596117973328
612
+ ],
613
+ "parent_body": "mobilebase0_support"
614
+ },
615
+ "robot0_agentview_left": {
616
+ "pos": [
617
+ -0.5,
618
+ 0.35,
619
+ 1.05
620
+ ],
621
+ "quat": [
622
+ 0.55623853,
623
+ 0.29935253,
624
+ -0.37678665,
625
+ -0.6775092
626
+ ],
627
+ "camera_attribs": {
628
+ "fovy": "60"
629
+ },
630
+ "parent_body": "mobilebase0_support"
631
+ },
632
+ "robot0_agentview_right": {
633
+ "pos": [
634
+ -0.5,
635
+ -0.35,
636
+ 1.05
637
+ ],
638
+ "quat": [
639
+ 0.6775091886520386,
640
+ 0.3767866790294647,
641
+ -0.2993525564670563,
642
+ -0.55623859167099
643
+ ],
644
+ "camera_attribs": {
645
+ "fovy": "60"
646
+ },
647
+ "parent_body": "mobilebase0_support"
648
+ },
649
+ "robot0_frontview": {
650
+ "pos": [
651
+ -0.5,
652
+ 0,
653
+ 0.95
654
+ ],
655
+ "quat": [
656
+ 0.6088936924934387,
657
+ 0.3814677894115448,
658
+ -0.3673907518386841,
659
+ -0.5905545353889465
660
+ ],
661
+ "camera_attribs": {
662
+ "fovy": "60"
663
+ },
664
+ "parent_body": "mobilebase0_support"
665
+ },
666
+ "robot0_eye_in_hand": {
667
+ "pos": [
668
+ 0.05,
669
+ 0,
670
+ 0
671
+ ],
672
+ "quat": [
673
+ 0,
674
+ 0.707107,
675
+ 0.707107,
676
+ 0
677
+ ],
678
+ "parent_body": "robot0_right_hand"
679
+ }
680
+ },
681
+ "init_robot_base_pos": [
682
+ 4.013407221167465,
683
+ -0.7995623262664014,
684
+ 0.0
685
+ ],
686
+ "init_robot_base_ori": [
687
+ 0.0,
688
+ 0.0,
689
+ 1.5707963267948966
690
+ ]
691
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000019/ep_meta.json ADDED
@@ -0,0 +1,529 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 26,
3
+ "style_id": 40,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_right_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.0011515367234920637,
36
+ -0.19457737862853805,
37
+ -0.13305811289685274
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.244743326685,
55
+ 0.24474403597500002,
56
+ 0.023217144615000004
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.0779999952791828,
87
+ 0.6
88
+ ],
89
+ "offset": [
90
+ 0.4550000023604086,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1223716633425,
108
+ 0.1223716633425
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "baguette",
121
+ "bread_food",
122
+ "food",
123
+ "in_container",
124
+ "food_set1"
125
+ ],
126
+ "groups": [
127
+ "bread_food",
128
+ "pancake",
129
+ "waffle"
130
+ ],
131
+ "cat": "baguette",
132
+ "split": "train",
133
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_2/model.xml"
134
+ }
135
+ },
136
+ {
137
+ "name": "breakfast_item2",
138
+ "obj_groups": [
139
+ "fruit",
140
+ "cheese"
141
+ ],
142
+ "placement": {
143
+ "size": [
144
+ 0.1223716633425,
145
+ 0.1223716633425
146
+ ],
147
+ "ensure_object_boundary_in_range": false,
148
+ "sample_args": {
149
+ "reference": "breakfast_plate",
150
+ "on_top": true
151
+ }
152
+ },
153
+ "type": "object",
154
+ "info": {
155
+ "groups_containing_sampled_obj": [
156
+ "all",
157
+ "banana",
158
+ "fruit",
159
+ "food",
160
+ "in_container",
161
+ "food_set1",
162
+ "group1"
163
+ ],
164
+ "groups": [
165
+ "fruit",
166
+ "cheese"
167
+ ],
168
+ "cat": "banana",
169
+ "split": "train",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_18/model.xml"
171
+ }
172
+ }
173
+ ],
174
+ "fixtures": {
175
+ "wall_left_1_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_1_backing_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_main_backing_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_1_backing_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_3_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_3_backing_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_2_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_right_2_backing_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_front_1_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_front_1_backing_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "floor_1_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "floor_1_backing_room": {
215
+ "cls": "Floor"
216
+ },
217
+ "wall_accessory_1_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "light_switch_1_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wall_accessory_2_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "light_switch_2_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "wall_accessory_3_room": {
230
+ "cls": "WallAccessory"
231
+ },
232
+ "light_switch_3_room": {
233
+ "cls": "WallAccessory"
234
+ },
235
+ "light_switch_4_room": {
236
+ "cls": "WallAccessory"
237
+ },
238
+ "window_group_1_room": {
239
+ "cls": "Window"
240
+ },
241
+ "window_group_2_room": {
242
+ "cls": "Window"
243
+ },
244
+ "stool_1_room": {
245
+ "cls": "Stool"
246
+ },
247
+ "stool_2_room": {
248
+ "cls": "Stool"
249
+ },
250
+ "stool_3_room": {
251
+ "cls": "Stool"
252
+ },
253
+ "counter_1_main_group": {
254
+ "cls": "Counter"
255
+ },
256
+ "stove_main_group": {
257
+ "cls": "Stove"
258
+ },
259
+ "counter_2_main_group": {
260
+ "cls": "Counter"
261
+ },
262
+ "stack_1_main_group_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_1_main_group_1": {
266
+ "cls": "HingeCabinet"
267
+ },
268
+ "stack_2_main_group_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_2_main_group_1": {
272
+ "cls": "Drawer"
273
+ },
274
+ "stack_2_main_group_2": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_2_main_group_3": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_3_main_group_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_3_main_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "stack_3_main_group_2": {
287
+ "cls": "Drawer"
288
+ },
289
+ "fridge_main_group": {
290
+ "cls": "FridgeFrenchDoor"
291
+ },
292
+ "fridge_housing_main_group": {
293
+ "cls": "HousingCabinet"
294
+ },
295
+ "stack_4_main_group_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_4_main_group_1": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_4_main_group_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_4_main_group_3": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "stack_4_main_group_4": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "cab_1_main_group": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "microwave_main_group": {
314
+ "cls": "Microwave"
315
+ },
316
+ "cab_2_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_3_main_group": {
320
+ "cls": "OpenCabinet"
321
+ },
322
+ "toaster_oven_main_group": {
323
+ "cls": "ToasterOven"
324
+ },
325
+ "sink_1_front_group": {
326
+ "cls": "Sink"
327
+ },
328
+ "counter_1_front_group": {
329
+ "cls": "Counter"
330
+ },
331
+ "box_front_group": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_1_front_group_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_1_front_group_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "dishwasher_front_group": {
341
+ "cls": "Dishwasher"
342
+ },
343
+ "stack_2_front_group_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_2_front_group_1": {
347
+ "cls": "SingleCabinet"
348
+ },
349
+ "stack_2_front_group_2": {
350
+ "cls": "Drawer"
351
+ },
352
+ "cab_1_front_group": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "counter_corner_right_group": {
356
+ "cls": "Counter"
357
+ },
358
+ "counter_1_right_group": {
359
+ "cls": "Counter"
360
+ },
361
+ "box_right_group": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_1_right_group_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_1_right_group_1": {
368
+ "cls": "SingleCabinet"
369
+ },
370
+ "stack_1_right_group_2": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_2_right_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_2_right_group_1": {
377
+ "cls": "SingleCabinet"
378
+ },
379
+ "stack_2_right_group_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_3_right_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_3_right_group_1": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_3_right_group_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_3_right_group_3": {
392
+ "cls": "Drawer"
393
+ },
394
+ "cab_1_right_group": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "cab_2_right_group": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "coffee_machine_right_group": {
401
+ "cls": "CoffeeMachine"
402
+ },
403
+ "toaster_right_group": {
404
+ "cls": "Toaster"
405
+ },
406
+ "paper_towel_right_group": {
407
+ "cls": "Accessory"
408
+ },
409
+ "island_island_group": {
410
+ "cls": "Counter"
411
+ },
412
+ "stack_1_island_group_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_1_island_group_1": {
416
+ "cls": "SingleCabinet"
417
+ },
418
+ "stack_2_island_group_base": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_2_island_group_1": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "box_1_island_group": {
425
+ "cls": "Box"
426
+ },
427
+ "box_2_island_group": {
428
+ "cls": "Box"
429
+ }
430
+ },
431
+ "gen_textures": {},
432
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
433
+ "fixture_refs": {
434
+ "stool": "stool_1_room",
435
+ "dining_counter": "island_island_group",
436
+ "coffee_machine": "coffee_machine_right_group"
437
+ },
438
+ "cam_configs": {
439
+ "robot0_agentview_center": {
440
+ "pos": [
441
+ -0.6,
442
+ 0.0,
443
+ 1.15
444
+ ],
445
+ "quat": [
446
+ 0.636945903301239,
447
+ 0.3325185477733612,
448
+ -0.3199238181114197,
449
+ -0.6175596117973328
450
+ ],
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_agentview_left": {
454
+ "pos": [
455
+ -0.5,
456
+ 0.35,
457
+ 1.05
458
+ ],
459
+ "quat": [
460
+ 0.55623853,
461
+ 0.29935253,
462
+ -0.37678665,
463
+ -0.6775092
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_agentview_right": {
471
+ "pos": [
472
+ -0.5,
473
+ -0.35,
474
+ 1.05
475
+ ],
476
+ "quat": [
477
+ 0.6775091886520386,
478
+ 0.3767866790294647,
479
+ -0.2993525564670563,
480
+ -0.55623859167099
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_frontview": {
488
+ "pos": [
489
+ -0.5,
490
+ 0,
491
+ 0.95
492
+ ],
493
+ "quat": [
494
+ 0.6088936924934387,
495
+ 0.3814677894115448,
496
+ -0.3673907518386841,
497
+ -0.5905545353889465
498
+ ],
499
+ "camera_attribs": {
500
+ "fovy": "60"
501
+ },
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_eye_in_hand": {
505
+ "pos": [
506
+ 0.05,
507
+ 0,
508
+ 0
509
+ ],
510
+ "quat": [
511
+ 0,
512
+ 0.707107,
513
+ 0.707107,
514
+ 0
515
+ ],
516
+ "parent_body": "robot0_right_hand"
517
+ }
518
+ },
519
+ "init_robot_base_pos": [
520
+ 4.317811153785098,
521
+ -3.3773889145261333,
522
+ 0.0
523
+ ],
524
+ "init_robot_base_ori": [
525
+ 0.0,
526
+ 0.0,
527
+ 7.085780169280298e-07
528
+ ]
529
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000020/ep_meta.json ADDED
@@ -0,0 +1,524 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 27,
3
+ "style_id": 25,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_3/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.0006123392200846125,
36
+ -0.19533501099952028,
37
+ -0.13360972642343225
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "counter_3_front_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_3_room",
53
+ "min_size": [
54
+ 0.23125013257500002,
55
+ 0.23125020817500003,
56
+ 0.018714614625
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.035000240062958,
87
+ 0.688
88
+ ],
89
+ "offset": [
90
+ -0.6579998799685209,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11562506628750001,
108
+ 0.11562506628750001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread006/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11562506628750001,
144
+ 0.11562506628750001
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "orange",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "orange",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_left_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_left_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_main_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_main_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_right_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_right_1_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_main_2_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_main_2_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "floor_1_room": {
198
+ "cls": "Floor"
199
+ },
200
+ "floor_1_backing_room": {
201
+ "cls": "Floor"
202
+ },
203
+ "floor_2_room": {
204
+ "cls": "Floor"
205
+ },
206
+ "floor_2_backing_room": {
207
+ "cls": "Floor"
208
+ },
209
+ "wall_accessory_1_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "wall_accessory_2_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "wall_accessory_3_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "wall_accessory_4_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "light_switch_1_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "window_group_1_room": {
225
+ "cls": "Window"
226
+ },
227
+ "window_group_2_room": {
228
+ "cls": "Window"
229
+ },
230
+ "window_group_3_room": {
231
+ "cls": "Window"
232
+ },
233
+ "window_group_4_room": {
234
+ "cls": "Window"
235
+ },
236
+ "stool_1_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "stool_2_room": {
240
+ "cls": "Stool"
241
+ },
242
+ "stool_3_room": {
243
+ "cls": "Stool"
244
+ },
245
+ "counter_corner_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "sink_1_main_group": {
249
+ "cls": "Sink"
250
+ },
251
+ "counter_1_main_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "box_main_group": {
255
+ "cls": "Box"
256
+ },
257
+ "stack_1_main_group_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_1_main_group_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "stack_2_main_group_base": {
264
+ "cls": "Box"
265
+ },
266
+ "stack_2_main_group_1": {
267
+ "cls": "SingleCabinet"
268
+ },
269
+ "stack_3_main_group_base": {
270
+ "cls": "Box"
271
+ },
272
+ "stack_3_main_group_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "stack_3_main_group_2": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_3_main_group_3": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_4_main_group_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_4_main_group_1": {
285
+ "cls": "SingleCabinet"
286
+ },
287
+ "stack_4_main_group_2": {
288
+ "cls": "SingleCabinet"
289
+ },
290
+ "bottom_main_group_base": {
291
+ "cls": "Box"
292
+ },
293
+ "bottom_main_group_1": {
294
+ "cls": "Drawer"
295
+ },
296
+ "middle_main_group": {
297
+ "cls": "HingeCabinet"
298
+ },
299
+ "microwave_main_group": {
300
+ "cls": "Microwave"
301
+ },
302
+ "microwave_housing_main_group": {
303
+ "cls": "HousingCabinet"
304
+ },
305
+ "top_main_group": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "cab_1_main_group": {
309
+ "cls": "HingeCabinet"
310
+ },
311
+ "cab_2_main_group": {
312
+ "cls": "SingleCabinet"
313
+ },
314
+ "toaster_main_group": {
315
+ "cls": "Toaster"
316
+ },
317
+ "paper_towel_main_group": {
318
+ "cls": "Accessory"
319
+ },
320
+ "counter_1_left_group": {
321
+ "cls": "Counter"
322
+ },
323
+ "stack_1_left_group_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_1_left_group_1": {
327
+ "cls": "SingleCabinet"
328
+ },
329
+ "stack_1_left_group_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_2_left_group_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_2_left_group_1": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_2_left_group_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_2_left_group_3": {
342
+ "cls": "Drawer"
343
+ },
344
+ "dishwasher_left_group": {
345
+ "cls": "Dishwasher"
346
+ },
347
+ "box_left_group": {
348
+ "cls": "Box"
349
+ },
350
+ "fridge_left_group": {
351
+ "cls": "FridgeBottomFreezer"
352
+ },
353
+ "fridge_housing_left_group": {
354
+ "cls": "HousingCabinet"
355
+ },
356
+ "fridge_top_left_group": {
357
+ "cls": "HingeCabinet"
358
+ },
359
+ "cab_1_left_group": {
360
+ "cls": "HingeCabinet"
361
+ },
362
+ "coffee_machine_left_group": {
363
+ "cls": "CoffeeMachine"
364
+ },
365
+ "toaster_oven_left_group": {
366
+ "cls": "ToasterOven"
367
+ },
368
+ "counter_1_front_group": {
369
+ "cls": "Counter"
370
+ },
371
+ "stove_front_group": {
372
+ "cls": "Stove"
373
+ },
374
+ "counter_2_front_group": {
375
+ "cls": "Counter"
376
+ },
377
+ "counter_3_front_group": {
378
+ "cls": "Counter"
379
+ },
380
+ "counter_4_front_group": {
381
+ "cls": "Counter"
382
+ },
383
+ "counter_5_front_group": {
384
+ "cls": "Counter"
385
+ },
386
+ "stack_1_front_group_base": {
387
+ "cls": "Box"
388
+ },
389
+ "stack_1_front_group_1": {
390
+ "cls": "HingeCabinet"
391
+ },
392
+ "stack_1_front_group_2": {
393
+ "cls": "Drawer"
394
+ },
395
+ "stack_2_front_group_base": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_2_front_group_1": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "stack_2_front_group_2": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_3_front_group_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_3_front_group_1": {
408
+ "cls": "SingleCabinet"
409
+ },
410
+ "stack_3_front_group_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "box_1_front_group": {
414
+ "cls": "Box"
415
+ },
416
+ "box_2_front_group": {
417
+ "cls": "Box"
418
+ },
419
+ "box_3_front_group": {
420
+ "cls": "Box"
421
+ },
422
+ "hood_front_group": {
423
+ "cls": "Hood"
424
+ }
425
+ },
426
+ "gen_textures": {},
427
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
428
+ "fixture_refs": {
429
+ "stool": "stool_3_room",
430
+ "dining_counter": "counter_3_front_group",
431
+ "coffee_machine": "coffee_machine_left_group"
432
+ },
433
+ "cam_configs": {
434
+ "robot0_agentview_center": {
435
+ "pos": [
436
+ -0.6,
437
+ 0.0,
438
+ 1.15
439
+ ],
440
+ "quat": [
441
+ 0.636945903301239,
442
+ 0.3325185477733612,
443
+ -0.3199238181114197,
444
+ -0.6175596117973328
445
+ ],
446
+ "parent_body": "mobilebase0_support"
447
+ },
448
+ "robot0_agentview_left": {
449
+ "pos": [
450
+ -0.5,
451
+ 0.35,
452
+ 1.05
453
+ ],
454
+ "quat": [
455
+ 0.55623853,
456
+ 0.29935253,
457
+ -0.37678665,
458
+ -0.6775092
459
+ ],
460
+ "camera_attribs": {
461
+ "fovy": "60"
462
+ },
463
+ "parent_body": "mobilebase0_support"
464
+ },
465
+ "robot0_agentview_right": {
466
+ "pos": [
467
+ -0.5,
468
+ -0.35,
469
+ 1.05
470
+ ],
471
+ "quat": [
472
+ 0.6775091886520386,
473
+ 0.3767866790294647,
474
+ -0.2993525564670563,
475
+ -0.55623859167099
476
+ ],
477
+ "camera_attribs": {
478
+ "fovy": "60"
479
+ },
480
+ "parent_body": "mobilebase0_support"
481
+ },
482
+ "robot0_frontview": {
483
+ "pos": [
484
+ -0.5,
485
+ 0,
486
+ 0.95
487
+ ],
488
+ "quat": [
489
+ 0.6088936924934387,
490
+ 0.3814677894115448,
491
+ -0.3673907518386841,
492
+ -0.5905545353889465
493
+ ],
494
+ "camera_attribs": {
495
+ "fovy": "60"
496
+ },
497
+ "parent_body": "mobilebase0_support"
498
+ },
499
+ "robot0_eye_in_hand": {
500
+ "pos": [
501
+ 0.05,
502
+ 0,
503
+ 0
504
+ ],
505
+ "quat": [
506
+ 0,
507
+ 0.707107,
508
+ 0.707107,
509
+ 0
510
+ ],
511
+ "parent_body": "robot0_right_hand"
512
+ }
513
+ },
514
+ "init_robot_base_pos": [
515
+ 0.8083419804048427,
516
+ -2.147010047977416,
517
+ 0.0
518
+ ],
519
+ "init_robot_base_ori": [
520
+ 0.0,
521
+ 0.0,
522
+ 3.1415926193612504
523
+ ]
524
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000021/ep_meta.json ADDED
@@ -0,0 +1,511 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 57,
3
+ "style_id": 29,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.009321739429306619,
36
+ -0.08896380103362704,
37
+ -0.13538477962996123
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_1_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.245475224055,
55
+ 0.24547526901,
56
+ 0.01497314187
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.13541,
87
+ 1.828718
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1227376120275,
108
+ 0.1227376120275
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread_flat",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread_flat",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1227376120275,
144
+ 0.1227376120275
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "mango",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "mango",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_18/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_right_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_right_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "floor_1_room": {
185
+ "cls": "Floor"
186
+ },
187
+ "floor_1_backing_room": {
188
+ "cls": "Floor"
189
+ },
190
+ "wallaccessory_3_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "wallaccessory_4_room": {
194
+ "cls": "WallAccessory"
195
+ },
196
+ "lightswitch_01_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "window_group_1_room": {
200
+ "cls": "Window"
201
+ },
202
+ "stool_1_room": {
203
+ "cls": "Stool"
204
+ },
205
+ "stool_2_room": {
206
+ "cls": "Stool"
207
+ },
208
+ "hingecabinet_2_main_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "hingecabinet_3_main_group_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "hingecabinet_4_main_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "singlecabinet_1_main_group_1": {
218
+ "cls": "SingleCabinet"
219
+ },
220
+ "sink_main_group_1": {
221
+ "cls": "Sink"
222
+ },
223
+ "counter_1_main_group_1": {
224
+ "cls": "Counter"
225
+ },
226
+ "cube_3_main_group_1": {
227
+ "cls": "Box"
228
+ },
229
+ "stack_02_main_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_02_main_group_1_1": {
233
+ "cls": "SingleCabinet"
234
+ },
235
+ "stack_02_main_group_1_2": {
236
+ "cls": "Drawer"
237
+ },
238
+ "stack_01_main_group_1_base": {
239
+ "cls": "Box"
240
+ },
241
+ "stack_01_main_group_1_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "stack_01_main_group_1_2": {
245
+ "cls": "PanelCabinet"
246
+ },
247
+ "stack_03_main_group_1_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_03_main_group_1_1": {
251
+ "cls": "SingleCabinet"
252
+ },
253
+ "dishwasher_1_main_group_1": {
254
+ "cls": "Dishwasher"
255
+ },
256
+ "cube_9_main_group_1": {
257
+ "cls": "Box"
258
+ },
259
+ "toaster_main_group_1": {
260
+ "cls": "Toaster"
261
+ },
262
+ "fridgesidebyside_main_group_1": {
263
+ "cls": "FridgeSideBySide"
264
+ },
265
+ "fridgesidebyside_housing_main_group_1": {
266
+ "cls": "HousingCabinet"
267
+ },
268
+ "hingecabinet_1_main_group_1": {
269
+ "cls": "HingeCabinet"
270
+ },
271
+ "bottom_main_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "bottom_main_group_1_1": {
275
+ "cls": "Drawer"
276
+ },
277
+ "oven_cabinet_main_group_1": {
278
+ "cls": "HingeCabinet"
279
+ },
280
+ "microwave_main_group_1": {
281
+ "cls": "Microwave"
282
+ },
283
+ "microwave_housing_main_group_1": {
284
+ "cls": "HousingCabinet"
285
+ },
286
+ "top_main_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "hingecabinet_5_left_group_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "singlecabinet_2_left_group_1": {
293
+ "cls": "SingleCabinet"
294
+ },
295
+ "cube_4_left_group_1": {
296
+ "cls": "Box"
297
+ },
298
+ "counter_corner_1_left_group_1": {
299
+ "cls": "Counter"
300
+ },
301
+ "counter_2_left_group_1": {
302
+ "cls": "Counter"
303
+ },
304
+ "stack_04_left_group_1_base": {
305
+ "cls": "Box"
306
+ },
307
+ "stack_04_left_group_1_1": {
308
+ "cls": "SingleCabinet"
309
+ },
310
+ "stack_05_left_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_05_left_group_1_1": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_05_left_group_1_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_05_left_group_1_3": {
320
+ "cls": "Drawer"
321
+ },
322
+ "cube_10_left_group_1": {
323
+ "cls": "Box"
324
+ },
325
+ "cube_11_left_group_1": {
326
+ "cls": "Box"
327
+ },
328
+ "coffee_machine_left_group_1": {
329
+ "cls": "CoffeeMachine"
330
+ },
331
+ "paper_towel_left_group_1": {
332
+ "cls": "Accessory"
333
+ },
334
+ "island_1_island_group_1": {
335
+ "cls": "Counter"
336
+ },
337
+ "island_2_island_group_1": {
338
+ "cls": "Counter"
339
+ },
340
+ "island_3_island_group_1": {
341
+ "cls": "Counter"
342
+ },
343
+ "stove_island_group_1": {
344
+ "cls": "Stove"
345
+ },
346
+ "stove_hood_island_group_1": {
347
+ "cls": "Hood"
348
+ },
349
+ "cube_1_island_group_1": {
350
+ "cls": "Box"
351
+ },
352
+ "cube_2_island_group_1": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_07_island_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_07_island_group_1_1": {
359
+ "cls": "SingleCabinet"
360
+ },
361
+ "stack_07_island_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_06_island_group_1_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_06_island_group_1_1": {
368
+ "cls": "SingleCabinet"
369
+ },
370
+ "stack_06_island_group_1_2": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_09_island_group_2_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_09_island_group_2_1": {
377
+ "cls": "SingleCabinet"
378
+ },
379
+ "stack_09_island_group_2_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_08_island_group_2_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_08_island_group_2_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "stack_08_island_group_2_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_10_island_group_2_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_10_island_group_2_1": {
395
+ "cls": "SingleCabinet"
396
+ },
397
+ "stack_10_island_group_2_2": {
398
+ "cls": "Drawer"
399
+ },
400
+ "stack_11_island_group_2_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_11_island_group_2_1": {
404
+ "cls": "SingleCabinet"
405
+ },
406
+ "stack_11_island_group_2_2": {
407
+ "cls": "Drawer"
408
+ },
409
+ "cube_5_island_group_2": {
410
+ "cls": "Box"
411
+ }
412
+ },
413
+ "gen_textures": {},
414
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
415
+ "fixture_refs": {
416
+ "stool": "stool_1_room",
417
+ "dining_counter": "island_1_island_group_1",
418
+ "coffee_machine": "coffee_machine_left_group_1"
419
+ },
420
+ "cam_configs": {
421
+ "robot0_agentview_center": {
422
+ "pos": [
423
+ -0.6,
424
+ 0.0,
425
+ 1.15
426
+ ],
427
+ "quat": [
428
+ 0.636945903301239,
429
+ 0.3325185477733612,
430
+ -0.3199238181114197,
431
+ -0.6175596117973328
432
+ ],
433
+ "parent_body": "mobilebase0_support"
434
+ },
435
+ "robot0_agentview_left": {
436
+ "pos": [
437
+ -0.5,
438
+ 0.35,
439
+ 1.05
440
+ ],
441
+ "quat": [
442
+ 0.55623853,
443
+ 0.29935253,
444
+ -0.37678665,
445
+ -0.6775092
446
+ ],
447
+ "camera_attribs": {
448
+ "fovy": "60"
449
+ },
450
+ "parent_body": "mobilebase0_support"
451
+ },
452
+ "robot0_agentview_right": {
453
+ "pos": [
454
+ -0.5,
455
+ -0.35,
456
+ 1.05
457
+ ],
458
+ "quat": [
459
+ 0.6775091886520386,
460
+ 0.3767866790294647,
461
+ -0.2993525564670563,
462
+ -0.55623859167099
463
+ ],
464
+ "camera_attribs": {
465
+ "fovy": "60"
466
+ },
467
+ "parent_body": "mobilebase0_support"
468
+ },
469
+ "robot0_frontview": {
470
+ "pos": [
471
+ -0.5,
472
+ 0,
473
+ 0.95
474
+ ],
475
+ "quat": [
476
+ 0.6088936924934387,
477
+ 0.3814677894115448,
478
+ -0.3673907518386841,
479
+ -0.5905545353889465
480
+ ],
481
+ "camera_attribs": {
482
+ "fovy": "60"
483
+ },
484
+ "parent_body": "mobilebase0_support"
485
+ },
486
+ "robot0_eye_in_hand": {
487
+ "pos": [
488
+ 0.05,
489
+ 0,
490
+ 0
491
+ ],
492
+ "quat": [
493
+ 0,
494
+ 0.707107,
495
+ 0.707107,
496
+ 0
497
+ ],
498
+ "parent_body": "robot0_right_hand"
499
+ }
500
+ },
501
+ "init_robot_base_pos": [
502
+ -1.4053056917791338,
503
+ -0.8151719405831017,
504
+ 0.0
505
+ ],
506
+ "init_robot_base_ori": [
507
+ 0.0,
508
+ 0.0,
509
+ 1.5706378976484208
510
+ ]
511
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000022/ep_meta.json ADDED
@@ -0,0 +1,505 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 30,
3
+ "style_id": 42,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_18/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.022066143361923578,
36
+ -0.16306289292553391,
37
+ -0.13823050987439528
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "dining_front_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.244743326685,
55
+ 0.24474403597500002,
56
+ 0.023217144615000004
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.75,
87
+ 0.95
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1223716633425,
108
+ 0.1223716633425
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread006/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1223716633425,
144
+ 0.1223716633425
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "kiwi",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "kiwi",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_main_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "floor_1_room": {
191
+ "cls": "Floor"
192
+ },
193
+ "floor_1_backing_room": {
194
+ "cls": "Floor"
195
+ },
196
+ "wall_accessory_1_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "wall_accessory_2_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "light_switch_1_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "ligh_switch_2_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "light_switch_3_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "light_switch_4_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wall_accessory_3_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wall_accessory_4_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wall_accessory_5_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "window_group_1_room": {
224
+ "cls": "Window"
225
+ },
226
+ "window_group_2_room": {
227
+ "cls": "Window"
228
+ },
229
+ "window_group_3_room": {
230
+ "cls": "Window"
231
+ },
232
+ "stool_1_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_2_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "counter_1_left_group": {
239
+ "cls": "Counter"
240
+ },
241
+ "stove_left_group": {
242
+ "cls": "Stove"
243
+ },
244
+ "counter_2_left_group": {
245
+ "cls": "Counter"
246
+ },
247
+ "stack_1_left_group_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_1_left_group_1": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_1_left_group_2": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_1_left_group_3": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_2_left_group_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_2_left_group_1": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_2_left_group_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_2_left_group_3": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_3_left_group_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_3_left_group_1": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_3_left_group_2": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_3_left_group_3": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_4_left_group_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_4_left_group_1": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_4_left_group_2": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_4_left_group_3": {
293
+ "cls": "Drawer"
294
+ },
295
+ "fridge_left_group": {
296
+ "cls": "FridgeFrenchDoor"
297
+ },
298
+ "fridge_housing_left_group": {
299
+ "cls": "HousingCabinet"
300
+ },
301
+ "cab_1_left_group": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "cab_2_left_group": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "microwave_left_group": {
308
+ "cls": "Microwave"
309
+ },
310
+ "cab_3_left_group": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "cab_4_left_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_5_left_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_6_left_group": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "toaster_oven_left_group": {
323
+ "cls": "ToasterOven"
324
+ },
325
+ "coffee_machine_left_group": {
326
+ "cls": "CoffeeMachine"
327
+ },
328
+ "paper_towel_left_group": {
329
+ "cls": "Accessory"
330
+ },
331
+ "sink_right_group": {
332
+ "cls": "Sink"
333
+ },
334
+ "counter_1_right_group": {
335
+ "cls": "Counter"
336
+ },
337
+ "stack_1_right_group_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_1_right_group_1": {
341
+ "cls": "SingleCabinet"
342
+ },
343
+ "dishwasher_right_group": {
344
+ "cls": "Dishwasher"
345
+ },
346
+ "stack_2_right_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_right_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_3_right_group_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_3_right_group_1": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_3_right_group_2": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_4_right_group_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_4_right_group_1": {
365
+ "cls": "SingleCabinet"
366
+ },
367
+ "box_right_group": {
368
+ "cls": "Box"
369
+ },
370
+ "cab_1_right_group": {
371
+ "cls": "OpenCabinet"
372
+ },
373
+ "cab_2_right_group": {
374
+ "cls": "OpenCabinet"
375
+ },
376
+ "toaster_right_group": {
377
+ "cls": "Toaster"
378
+ },
379
+ "dining_front_group": {
380
+ "cls": "Counter"
381
+ },
382
+ "box_front_group": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_1_front_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_1_front_group_1": {
389
+ "cls": "SingleCabinet"
390
+ },
391
+ "stack_2_front_group_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_2_front_group_1": {
395
+ "cls": "Drawer"
396
+ },
397
+ "stack_2_front_group_2": {
398
+ "cls": "Drawer"
399
+ },
400
+ "stack_2_front_group_3": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_2_front_group_4": {
404
+ "cls": "Drawer"
405
+ }
406
+ },
407
+ "gen_textures": {},
408
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
409
+ "fixture_refs": {
410
+ "stool": "stool_2_room",
411
+ "dining_counter": "dining_front_group",
412
+ "coffee_machine": "coffee_machine_left_group"
413
+ },
414
+ "cam_configs": {
415
+ "robot0_agentview_center": {
416
+ "pos": [
417
+ -0.6,
418
+ 0.0,
419
+ 1.15
420
+ ],
421
+ "quat": [
422
+ 0.636945903301239,
423
+ 0.3325185477733612,
424
+ -0.3199238181114197,
425
+ -0.6175596117973328
426
+ ],
427
+ "parent_body": "mobilebase0_support"
428
+ },
429
+ "robot0_agentview_left": {
430
+ "pos": [
431
+ -0.5,
432
+ 0.35,
433
+ 1.05
434
+ ],
435
+ "quat": [
436
+ 0.55623853,
437
+ 0.29935253,
438
+ -0.37678665,
439
+ -0.6775092
440
+ ],
441
+ "camera_attribs": {
442
+ "fovy": "60"
443
+ },
444
+ "parent_body": "mobilebase0_support"
445
+ },
446
+ "robot0_agentview_right": {
447
+ "pos": [
448
+ -0.5,
449
+ -0.35,
450
+ 1.05
451
+ ],
452
+ "quat": [
453
+ 0.6775091886520386,
454
+ 0.3767866790294647,
455
+ -0.2993525564670563,
456
+ -0.55623859167099
457
+ ],
458
+ "camera_attribs": {
459
+ "fovy": "60"
460
+ },
461
+ "parent_body": "mobilebase0_support"
462
+ },
463
+ "robot0_frontview": {
464
+ "pos": [
465
+ -0.5,
466
+ 0,
467
+ 0.95
468
+ ],
469
+ "quat": [
470
+ 0.6088936924934387,
471
+ 0.3814677894115448,
472
+ -0.3673907518386841,
473
+ -0.5905545353889465
474
+ ],
475
+ "camera_attribs": {
476
+ "fovy": "60"
477
+ },
478
+ "parent_body": "mobilebase0_support"
479
+ },
480
+ "robot0_eye_in_hand": {
481
+ "pos": [
482
+ 0.05,
483
+ 0,
484
+ 0
485
+ ],
486
+ "quat": [
487
+ 0,
488
+ 0.707107,
489
+ 0.707107,
490
+ 0
491
+ ],
492
+ "parent_body": "robot0_right_hand"
493
+ }
494
+ },
495
+ "init_robot_base_pos": [
496
+ 0.8221012599154914,
497
+ -4.653569266120033,
498
+ 0.0
499
+ ],
500
+ "init_robot_base_ori": [
501
+ 0.0,
502
+ 0.0,
503
+ 3.1415926193612504
504
+ ]
505
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000023/ep_meta.json ADDED
@@ -0,0 +1,541 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 16,
3
+ "style_id": 58,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_right_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_2/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.05258726407996615,
36
+ -0.14687308574199656,
37
+ -0.13702025002078347
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.24709981284000002,
55
+ 0.24709756509000005,
56
+ 0.021416774287499996
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.3359999918874497,
87
+ 0.976
88
+ ],
89
+ "offset": [
90
+ 0.7470000040562752,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12354878254500003,
108
+ 0.12354878254500003
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "baguette",
121
+ "bread_food",
122
+ "food",
123
+ "in_container",
124
+ "food_set1"
125
+ ],
126
+ "groups": [
127
+ "bread_food",
128
+ "pancake",
129
+ "waffle"
130
+ ],
131
+ "cat": "baguette",
132
+ "split": "train",
133
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml"
134
+ }
135
+ },
136
+ {
137
+ "name": "breakfast_item2",
138
+ "obj_groups": [
139
+ "fruit",
140
+ "cheese"
141
+ ],
142
+ "placement": {
143
+ "size": [
144
+ 0.12354878254500003,
145
+ 0.12354878254500003
146
+ ],
147
+ "ensure_object_boundary_in_range": false,
148
+ "sample_args": {
149
+ "reference": "breakfast_plate",
150
+ "on_top": true
151
+ }
152
+ },
153
+ "type": "object",
154
+ "info": {
155
+ "groups_containing_sampled_obj": [
156
+ "all",
157
+ "banana",
158
+ "fruit",
159
+ "food",
160
+ "in_container",
161
+ "food_set1",
162
+ "group1"
163
+ ],
164
+ "groups": [
165
+ "fruit",
166
+ "cheese"
167
+ ],
168
+ "cat": "banana",
169
+ "split": "train",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_19/model.xml"
171
+ }
172
+ }
173
+ ],
174
+ "fixtures": {
175
+ "wall_left_3_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_3_backing_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_main_backing_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_1_backing_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_left_2_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_left_2_backing_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_left_1_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_left_1_backing_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_left_4_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_left_4_backing_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_left_5_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_left_5_backing_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_right_3_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_right_3_backing_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_right_2_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_right_2_backing_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_right_4_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_right_4_backing_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "floor_1_room": {
236
+ "cls": "Floor"
237
+ },
238
+ "floor_1_backing_room": {
239
+ "cls": "Floor"
240
+ },
241
+ "floor_2_room": {
242
+ "cls": "Floor"
243
+ },
244
+ "floor_2_backing_room": {
245
+ "cls": "Floor"
246
+ },
247
+ "wall_accessory_1_room": {
248
+ "cls": "WallAccessory"
249
+ },
250
+ "wall_accessory_2_room": {
251
+ "cls": "WallAccessory"
252
+ },
253
+ "wall_accessory_3_room": {
254
+ "cls": "WallAccessory"
255
+ },
256
+ "light_switch_1_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "light_switch_2_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "stool_1_room": {
263
+ "cls": "Stool"
264
+ },
265
+ "stool_2_room": {
266
+ "cls": "Stool"
267
+ },
268
+ "stool_3_room": {
269
+ "cls": "Stool"
270
+ },
271
+ "counter_1_main_group_1": {
272
+ "cls": "Counter"
273
+ },
274
+ "stove_main_group_1": {
275
+ "cls": "Stove"
276
+ },
277
+ "counter_corner_main_group_1": {
278
+ "cls": "Counter"
279
+ },
280
+ "stack_1_main_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_1_main_group_1_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "fridge_1_main_group_1": {
287
+ "cls": "FridgeFrenchDoor"
288
+ },
289
+ "fridge_1_housing_main_group_1": {
290
+ "cls": "HousingCabinet"
291
+ },
292
+ "fridge_top_main_group_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "cab_1_main_group_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "cab_corner_main_group_1": {
299
+ "cls": "Box"
300
+ },
301
+ "microwave_main_group_1": {
302
+ "cls": "Microwave"
303
+ },
304
+ "cab_2_main_group_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "cab_3_main_group_1": {
308
+ "cls": "SingleCabinet"
309
+ },
310
+ "paper_towel_main_group_1": {
311
+ "cls": "Accessory"
312
+ },
313
+ "sink_1_right_group_1": {
314
+ "cls": "Sink"
315
+ },
316
+ "counter_1_right_group_1": {
317
+ "cls": "Counter"
318
+ },
319
+ "box_1_right_group_1": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_1_right_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_1_right_group_1_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "stack_1_right_group_1_2": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_1_right_group_1_3": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_2_right_group_1_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_2_right_group_1_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "stack_2_right_group_1_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_2_right_group_1_3": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_3_right_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_3_right_group_1_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_3_right_group_1_2": {
353
+ "cls": "PanelCabinet"
354
+ },
355
+ "stack_4_right_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_4_right_group_1_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "stack_4_right_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_4_right_group_1_3": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_5_right_group_1_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_5_right_group_1_1": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "stack_5_right_group_1_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_5_right_group_1_3": {
377
+ "cls": "Drawer"
378
+ },
379
+ "dishwasher_right_group_1": {
380
+ "cls": "Dishwasher"
381
+ },
382
+ "panel_stack_right_group_1_base": {
383
+ "cls": "Box"
384
+ },
385
+ "panel_stack_right_group_1_1": {
386
+ "cls": "PanelCabinet"
387
+ },
388
+ "cab_1_right_group_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "cab_2_right_group_1": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "coffee_machine_right_group_1": {
395
+ "cls": "CoffeeMachine"
396
+ },
397
+ "toaster_oven_right_group_1": {
398
+ "cls": "ToasterOven"
399
+ },
400
+ "toaster_right_group_1": {
401
+ "cls": "Toaster"
402
+ },
403
+ "island_island_group": {
404
+ "cls": "Counter"
405
+ },
406
+ "stack_1_island_group_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_1_island_group_1": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_1_island_group_2": {
413
+ "cls": "Drawer"
414
+ },
415
+ "box_1_island_group": {
416
+ "cls": "Box"
417
+ },
418
+ "box_2_island_group": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_2_island_group_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_2_island_group_1": {
425
+ "cls": "Drawer"
426
+ },
427
+ "stack_2_island_group_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_2_island_group_3": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_3_island_group_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_3_island_group_1": {
437
+ "cls": "Drawer"
438
+ },
439
+ "stack_3_island_group_2": {
440
+ "cls": "Drawer"
441
+ }
442
+ },
443
+ "gen_textures": {},
444
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
445
+ "fixture_refs": {
446
+ "stool": "stool_1_room",
447
+ "dining_counter": "island_island_group",
448
+ "coffee_machine": "coffee_machine_right_group_1"
449
+ },
450
+ "cam_configs": {
451
+ "robot0_agentview_center": {
452
+ "pos": [
453
+ -0.6,
454
+ 0.0,
455
+ 1.15
456
+ ],
457
+ "quat": [
458
+ 0.636945903301239,
459
+ 0.3325185477733612,
460
+ -0.3199238181114197,
461
+ -0.6175596117973328
462
+ ],
463
+ "parent_body": "mobilebase0_support"
464
+ },
465
+ "robot0_agentview_left": {
466
+ "pos": [
467
+ -0.5,
468
+ 0.35,
469
+ 1.05
470
+ ],
471
+ "quat": [
472
+ 0.55623853,
473
+ 0.29935253,
474
+ -0.37678665,
475
+ -0.6775092
476
+ ],
477
+ "camera_attribs": {
478
+ "fovy": "60"
479
+ },
480
+ "parent_body": "mobilebase0_support"
481
+ },
482
+ "robot0_agentview_right": {
483
+ "pos": [
484
+ -0.5,
485
+ -0.35,
486
+ 1.05
487
+ ],
488
+ "quat": [
489
+ 0.6775091886520386,
490
+ 0.3767866790294647,
491
+ -0.2993525564670563,
492
+ -0.55623859167099
493
+ ],
494
+ "camera_attribs": {
495
+ "fovy": "60"
496
+ },
497
+ "parent_body": "mobilebase0_support"
498
+ },
499
+ "robot0_frontview": {
500
+ "pos": [
501
+ -0.5,
502
+ 0,
503
+ 0.95
504
+ ],
505
+ "quat": [
506
+ 0.6088936924934387,
507
+ 0.3814677894115448,
508
+ -0.3673907518386841,
509
+ -0.5905545353889465
510
+ ],
511
+ "camera_attribs": {
512
+ "fovy": "60"
513
+ },
514
+ "parent_body": "mobilebase0_support"
515
+ },
516
+ "robot0_eye_in_hand": {
517
+ "pos": [
518
+ 0.05,
519
+ 0,
520
+ 0
521
+ ],
522
+ "quat": [
523
+ 0,
524
+ 0.707107,
525
+ 0.707107,
526
+ 0
527
+ ],
528
+ "parent_body": "robot0_right_hand"
529
+ }
530
+ },
531
+ "init_robot_base_pos": [
532
+ 2.222229213281325,
533
+ -2.056510177685336,
534
+ 0.0
535
+ ],
536
+ "init_robot_base_ori": [
537
+ 0.0,
538
+ 0.0,
539
+ 3.422854288892552e-08
540
+ ]
541
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000024/ep_meta.json ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 56,
3
+ "style_id": 27,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_16/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.0004327074170525906,
36
+ -0.19349601289234786,
37
+ -0.13762257225434033
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_3_room",
53
+ "min_size": [
54
+ 0.245914494345,
55
+ 0.24590248636500003,
56
+ 0.033029782155
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 0.28928885475836497,
87
+ 1.604605
88
+ ],
89
+ "offset": [
90
+ 0.6539179704306006,
91
+ 2.0816681711721685e-17,
92
+ 0.4600015
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12295124318250002,
108
+ 0.12295124318250002
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread_flat",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread_flat",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12295124318250002,
144
+ 0.12295124318250002
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "orange",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "orange",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_main_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_main_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_right_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_right_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "floor_1_room": {
186
+ "cls": "Floor"
187
+ },
188
+ "floor_1_backing_room": {
189
+ "cls": "Floor"
190
+ },
191
+ "wallaccessory_1_room": {
192
+ "cls": "WallAccessory"
193
+ },
194
+ "wallaccessory_2_room": {
195
+ "cls": "WallAccessory"
196
+ },
197
+ "wallaccessory_3_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "wallaccessory_4_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "lightswitch_02_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "lightswitch_03_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "stool_3_room": {
210
+ "cls": "Stool"
211
+ },
212
+ "stool_2_room": {
213
+ "cls": "Stool"
214
+ },
215
+ "stool_1_room": {
216
+ "cls": "Stool"
217
+ },
218
+ "stack_13_island_group_2_base": {
219
+ "cls": "Box"
220
+ },
221
+ "stack_13_island_group_2_1": {
222
+ "cls": "HingeCabinet"
223
+ },
224
+ "stack_04_island_group_2_base": {
225
+ "cls": "Box"
226
+ },
227
+ "stack_04_island_group_2_1": {
228
+ "cls": "HingeCabinet"
229
+ },
230
+ "stack_12_island_group_2_base": {
231
+ "cls": "Box"
232
+ },
233
+ "stack_12_island_group_2_1": {
234
+ "cls": "HingeCabinet"
235
+ },
236
+ "singlecabinet_2_main_group_1": {
237
+ "cls": "SingleCabinet"
238
+ },
239
+ "hingecabinet_5_main_group_1": {
240
+ "cls": "HingeCabinet"
241
+ },
242
+ "hingecabinet_4_main_group_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "opencabinet_2_main_group_1": {
246
+ "cls": "OpenCabinet"
247
+ },
248
+ "opencabinet_3_main_group_1": {
249
+ "cls": "OpenCabinet"
250
+ },
251
+ "counter_2_main_group_1": {
252
+ "cls": "Counter"
253
+ },
254
+ "counter_corner_1_main_group_1": {
255
+ "cls": "Counter"
256
+ },
257
+ "counter_3_main_group_1": {
258
+ "cls": "Counter"
259
+ },
260
+ "stove_main_group_1": {
261
+ "cls": "Stove"
262
+ },
263
+ "stove_hood_main_group_1": {
264
+ "cls": "Hood"
265
+ },
266
+ "cube_4_main_group_1": {
267
+ "cls": "Box"
268
+ },
269
+ "stack_11_main_group_1_base": {
270
+ "cls": "Box"
271
+ },
272
+ "stack_11_main_group_1_1": {
273
+ "cls": "SingleCabinet"
274
+ },
275
+ "stack_03_main_group_1_base": {
276
+ "cls": "Box"
277
+ },
278
+ "stack_03_main_group_1_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "stack_03_main_group_1_2": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_02_main_group_1_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_02_main_group_1_1": {
288
+ "cls": "SingleCabinet"
289
+ },
290
+ "stack_04_main_group_1_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_04_main_group_1_1": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_04_main_group_1_2": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_04_main_group_1_3": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_08_main_group_1_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_08_main_group_1_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "stack_08_main_group_1_2": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_06_main_group_1_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_06_main_group_1_1": {
315
+ "cls": "SingleCabinet"
316
+ },
317
+ "stack_07_main_group_1_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_07_main_group_1_1": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_07_main_group_1_2": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_07_main_group_1_3": {
327
+ "cls": "Drawer"
328
+ },
329
+ "cube_8_main_group_1": {
330
+ "cls": "Box"
331
+ },
332
+ "coffee_machine_main_group_1": {
333
+ "cls": "CoffeeMachine"
334
+ },
335
+ "papertowel_main_group_1": {
336
+ "cls": "Accessory"
337
+ },
338
+ "plant_main_group_1": {
339
+ "cls": "Accessory"
340
+ },
341
+ "toaster_oven_main_group_1": {
342
+ "cls": "ToasterOven"
343
+ },
344
+ "singlecabinet_1_right_group_1": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "hingecabinet_1_right_group_1": {
348
+ "cls": "HingeCabinet"
349
+ },
350
+ "hingecabinet_9_right_group_1": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "counter_1_right_group_1": {
354
+ "cls": "Counter"
355
+ },
356
+ "counter_8_right_group_1": {
357
+ "cls": "Counter"
358
+ },
359
+ "stack_6_right_group_1_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_6_right_group_1_1": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_6_right_group_1_2": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "stack_4_right_group_1_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_4_right_group_1_1": {
372
+ "cls": "SingleCabinet"
373
+ },
374
+ "cube_11_right_group_1": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_7_right_group_1_base": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_7_right_group_1_1": {
381
+ "cls": "HingeCabinet"
382
+ },
383
+ "stack_7_right_group_1_2": {
384
+ "cls": "Drawer"
385
+ },
386
+ "cube_12_right_group_1": {
387
+ "cls": "Box"
388
+ },
389
+ "fridgefrenchdoor_right_group_1": {
390
+ "cls": "FridgeFrenchDoor"
391
+ },
392
+ "fridgefrenchdoor_housing_right_group_1": {
393
+ "cls": "HousingCabinet"
394
+ },
395
+ "bottom_right_group_1_base": {
396
+ "cls": "Box"
397
+ },
398
+ "bottom_right_group_1_1": {
399
+ "cls": "Drawer"
400
+ },
401
+ "oven_cabinet_right_group_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "microwave_right_group_1": {
405
+ "cls": "Microwave"
406
+ },
407
+ "microwave_housing_right_group_1": {
408
+ "cls": "HousingCabinet"
409
+ },
410
+ "top_right_group_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "hingecabinet_2_right_group_1": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "toaster_right_group_1": {
417
+ "cls": "Toaster"
418
+ },
419
+ "sink_island_group_1": {
420
+ "cls": "Sink"
421
+ },
422
+ "island_island_group_1": {
423
+ "cls": "Counter"
424
+ },
425
+ "stack_11_island_group_1_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_11_island_group_1_1": {
429
+ "cls": "HingeCabinet"
430
+ },
431
+ "stack_11_island_group_1_2": {
432
+ "cls": "PanelCabinet"
433
+ },
434
+ "stack_09_island_group_1_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_09_island_group_1_1": {
438
+ "cls": "Drawer"
439
+ },
440
+ "stack_09_island_group_1_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "stack_09_island_group_1_3": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_10_island_group_1_base": {
447
+ "cls": "Box"
448
+ },
449
+ "stack_10_island_group_1_1": {
450
+ "cls": "SingleCabinet"
451
+ },
452
+ "stack_10_island_group_1_2": {
453
+ "cls": "Drawer"
454
+ },
455
+ "dishwasher_1_island_group_1": {
456
+ "cls": "Dishwasher"
457
+ },
458
+ "cube_1_island_group_1": {
459
+ "cls": "Box"
460
+ },
461
+ "cube_2_island_group_1": {
462
+ "cls": "Box"
463
+ }
464
+ },
465
+ "gen_textures": {},
466
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
467
+ "fixture_refs": {
468
+ "stool": "stool_3_room",
469
+ "dining_counter": "island_island_group_1",
470
+ "coffee_machine": "coffee_machine_main_group_1"
471
+ },
472
+ "cam_configs": {
473
+ "robot0_agentview_center": {
474
+ "pos": [
475
+ -0.6,
476
+ 0.0,
477
+ 1.15
478
+ ],
479
+ "quat": [
480
+ 0.636945903301239,
481
+ 0.3325185477733612,
482
+ -0.3199238181114197,
483
+ -0.6175596117973328
484
+ ],
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_agentview_left": {
488
+ "pos": [
489
+ -0.5,
490
+ 0.35,
491
+ 1.05
492
+ ],
493
+ "quat": [
494
+ 0.55623853,
495
+ 0.29935253,
496
+ -0.37678665,
497
+ -0.6775092
498
+ ],
499
+ "camera_attribs": {
500
+ "fovy": "60"
501
+ },
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_agentview_right": {
505
+ "pos": [
506
+ -0.5,
507
+ -0.35,
508
+ 1.05
509
+ ],
510
+ "quat": [
511
+ 0.6775091886520386,
512
+ 0.3767866790294647,
513
+ -0.2993525564670563,
514
+ -0.55623859167099
515
+ ],
516
+ "camera_attribs": {
517
+ "fovy": "60"
518
+ },
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_frontview": {
522
+ "pos": [
523
+ -0.5,
524
+ 0,
525
+ 0.95
526
+ ],
527
+ "quat": [
528
+ 0.6088936924934387,
529
+ 0.3814677894115448,
530
+ -0.3673907518386841,
531
+ -0.5905545353889465
532
+ ],
533
+ "camera_attribs": {
534
+ "fovy": "60"
535
+ },
536
+ "parent_body": "mobilebase0_support"
537
+ },
538
+ "robot0_eye_in_hand": {
539
+ "pos": [
540
+ 0.05,
541
+ 0,
542
+ 0
543
+ ],
544
+ "quat": [
545
+ 0,
546
+ 0.707107,
547
+ 0.707107,
548
+ 0
549
+ ],
550
+ "parent_body": "robot0_right_hand"
551
+ }
552
+ },
553
+ "init_robot_base_pos": [
554
+ 0.973249148876471,
555
+ -0.8234043584444715,
556
+ 0.0
557
+ ],
558
+ "init_robot_base_ori": [
559
+ 0.0,
560
+ 0.0,
561
+ 1.57064844767067
562
+ ]
563
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000025/ep_meta.json ADDED
@@ -0,0 +1,567 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 35,
3
+ "style_id": 45,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffeemachine_left_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_18/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.009312929484310594,
36
+ -0.21214005935549288,
37
+ -0.13409819481712165
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "counter_2_right_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_stool_group_1",
53
+ "min_size": [
54
+ 0.2566317107223312,
55
+ 0.2543053154683122,
56
+ 0.07540958341449114
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 2.251386208410528,
87
+ 0.65
88
+ ],
89
+ "offset": [
90
+ -0.02085689579473593,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1271526577341561,
108
+ 0.1271526577341561
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "waffle",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "waffle",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1271526577341561,
144
+ 0.1271526577341561
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "apple",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1",
161
+ "group1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "apple",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_2/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_left_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_left_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_1_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_1_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_main_2_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_main_2_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_right_2_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_right_2_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "wall_main_3_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "wall_main_3_backing_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "floor_1_room": {
211
+ "cls": "Floor"
212
+ },
213
+ "floor_1_backing_room": {
214
+ "cls": "Floor"
215
+ },
216
+ "wallaccessory_room": {
217
+ "cls": "WallAccessory"
218
+ },
219
+ "wallaccessory.002_room": {
220
+ "cls": "WallAccessory"
221
+ },
222
+ "wallaccessory.003_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "stool_3_room": {
226
+ "cls": "Stool"
227
+ },
228
+ "stool_2_room": {
229
+ "cls": "Stool"
230
+ },
231
+ "stool_1_room": {
232
+ "cls": "Stool"
233
+ },
234
+ "counter_1_main_group_1": {
235
+ "cls": "Counter"
236
+ },
237
+ "counter_corner_1_main_group_1": {
238
+ "cls": "Counter"
239
+ },
240
+ "hingecabinet_1_main_group_1": {
241
+ "cls": "HingeCabinet"
242
+ },
243
+ "box_1_main_group_1": {
244
+ "cls": "Box"
245
+ },
246
+ "hingecabinet_2_main_group_1": {
247
+ "cls": "HingeCabinet"
248
+ },
249
+ "stack_1_main_group_1_base": {
250
+ "cls": "Box"
251
+ },
252
+ "stack_1_main_group_1_1": {
253
+ "cls": "Drawer"
254
+ },
255
+ "stack_1_main_group_1_2": {
256
+ "cls": "Drawer"
257
+ },
258
+ "stack_1_main_group_1_3": {
259
+ "cls": "Drawer"
260
+ },
261
+ "stack_2_main_group_1_base": {
262
+ "cls": "Box"
263
+ },
264
+ "stack_2_main_group_1_1": {
265
+ "cls": "SingleCabinet"
266
+ },
267
+ "fridgefrenchdoor_main_group_1": {
268
+ "cls": "FridgeFrenchDoor"
269
+ },
270
+ "fridgefrenchdoor_housing_main_group_1": {
271
+ "cls": "HousingCabinet"
272
+ },
273
+ "knifeblock_main_group_1": {
274
+ "cls": "Accessory"
275
+ },
276
+ "paper_towel_main_group_1": {
277
+ "cls": "Accessory"
278
+ },
279
+ "toaster_main_group_1": {
280
+ "cls": "Toaster"
281
+ },
282
+ "sink_right_group_1": {
283
+ "cls": "Sink"
284
+ },
285
+ "counter_1_right_group_1": {
286
+ "cls": "Counter"
287
+ },
288
+ "counter_2_right_group_1": {
289
+ "cls": "Counter"
290
+ },
291
+ "singlecabinet_1_right_group_1": {
292
+ "cls": "SingleCabinet"
293
+ },
294
+ "cube_2_right_group_1": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_3_right_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_3_right_group_1_1": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_3_right_group_1_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_3_right_group_1_3": {
307
+ "cls": "Drawer"
308
+ },
309
+ "stack_1_right_group_1_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_1_right_group_1_1": {
313
+ "cls": "SingleCabinet"
314
+ },
315
+ "cube_1_right_group_1": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_2_right_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_2_right_group_1_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "stack_2_right_group_1_2": {
325
+ "cls": "PanelCabinet"
326
+ },
327
+ "dishwasher_1_right_group_1": {
328
+ "cls": "Dishwasher"
329
+ },
330
+ "cube_3_right_group_1": {
331
+ "cls": "Box"
332
+ },
333
+ "stovetop_left_group_1": {
334
+ "cls": "Stovetop"
335
+ },
336
+ "counter_1_left_group_1": {
337
+ "cls": "Counter"
338
+ },
339
+ "hingecabinet_3_left_group_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "hingecabinet_2_left_group_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "hingecabinet_1_left_group_1": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "bottom_left_group_1_base": {
349
+ "cls": "Box"
350
+ },
351
+ "bottom_left_group_1_1": {
352
+ "cls": "Drawer"
353
+ },
354
+ "oven_left_group_1": {
355
+ "cls": "Oven"
356
+ },
357
+ "oven_housing_left_group_1": {
358
+ "cls": "HousingCabinet"
359
+ },
360
+ "microwave_left_group_1": {
361
+ "cls": "Microwave"
362
+ },
363
+ "microwave_housing_left_group_1": {
364
+ "cls": "HousingCabinet"
365
+ },
366
+ "top_left_group_1": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "stack_1_left_group_1_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_1_left_group_1_1": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "stack_1_left_group_1_2": {
376
+ "cls": "Drawer"
377
+ },
378
+ "stack_2_left_group_1_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_2_left_group_1_1": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "stack_2_left_group_1_2": {
385
+ "cls": "PanelCabinet"
386
+ },
387
+ "stack_3_left_group_1_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_3_left_group_1_1": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "stack_3_left_group_1_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "coffeemachine_left_group_1": {
397
+ "cls": "CoffeeMachine"
398
+ },
399
+ "toaster_oven_left_group_1": {
400
+ "cls": "ToasterOven"
401
+ },
402
+ "counter_1_island_group": {
403
+ "cls": "Counter"
404
+ },
405
+ "stack_2_island_group_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_2_island_group_1": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_2_island_group_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_1_island_group_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_1_island_group_1": {
418
+ "cls": "SingleCabinet"
419
+ },
420
+ "stack_3_island_group_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_3_island_group_1": {
424
+ "cls": "SingleCabinet"
425
+ },
426
+ "plant_island_group": {
427
+ "cls": "Accessory"
428
+ },
429
+ "stack_2_dining_area_group_base": {
430
+ "cls": "Box"
431
+ },
432
+ "stack_2_dining_area_group_1": {
433
+ "cls": "HingeCabinet"
434
+ },
435
+ "stack_2_dining_area_group_2": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_4_dining_area_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_4_dining_area_group_1": {
442
+ "cls": "SingleCabinet"
443
+ },
444
+ "stack_1_dining_area_group_base": {
445
+ "cls": "Box"
446
+ },
447
+ "stack_1_dining_area_group_1": {
448
+ "cls": "SingleCabinet"
449
+ },
450
+ "stack_3_dining_area_group_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_3_dining_area_group_1": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "stack_3_dining_area_group_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stool_3_stool_group_1": {
460
+ "cls": "Stool"
461
+ },
462
+ "stool_2_stool_group_1": {
463
+ "cls": "Stool"
464
+ },
465
+ "stool_1_stool_group_1": {
466
+ "cls": "Stool"
467
+ }
468
+ },
469
+ "gen_textures": {},
470
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
471
+ "fixture_refs": {
472
+ "stool": "stool_2_stool_group_1",
473
+ "dining_counter": "counter_2_right_group_1",
474
+ "coffee_machine": "coffeemachine_left_group_1"
475
+ },
476
+ "cam_configs": {
477
+ "robot0_agentview_center": {
478
+ "pos": [
479
+ -0.6,
480
+ 0.0,
481
+ 1.15
482
+ ],
483
+ "quat": [
484
+ 0.636945903301239,
485
+ 0.3325185477733612,
486
+ -0.3199238181114197,
487
+ -0.6175596117973328
488
+ ],
489
+ "parent_body": "mobilebase0_support"
490
+ },
491
+ "robot0_agentview_left": {
492
+ "pos": [
493
+ -0.5,
494
+ 0.35,
495
+ 1.05
496
+ ],
497
+ "quat": [
498
+ 0.55623853,
499
+ 0.29935253,
500
+ -0.37678665,
501
+ -0.6775092
502
+ ],
503
+ "camera_attribs": {
504
+ "fovy": "60"
505
+ },
506
+ "parent_body": "mobilebase0_support"
507
+ },
508
+ "robot0_agentview_right": {
509
+ "pos": [
510
+ -0.5,
511
+ -0.35,
512
+ 1.05
513
+ ],
514
+ "quat": [
515
+ 0.6775091886520386,
516
+ 0.3767866790294647,
517
+ -0.2993525564670563,
518
+ -0.55623859167099
519
+ ],
520
+ "camera_attribs": {
521
+ "fovy": "60"
522
+ },
523
+ "parent_body": "mobilebase0_support"
524
+ },
525
+ "robot0_frontview": {
526
+ "pos": [
527
+ -0.5,
528
+ 0,
529
+ 0.95
530
+ ],
531
+ "quat": [
532
+ 0.6088936924934387,
533
+ 0.3814677894115448,
534
+ -0.3673907518386841,
535
+ -0.5905545353889465
536
+ ],
537
+ "camera_attribs": {
538
+ "fovy": "60"
539
+ },
540
+ "parent_body": "mobilebase0_support"
541
+ },
542
+ "robot0_eye_in_hand": {
543
+ "pos": [
544
+ 0.05,
545
+ 0,
546
+ 0
547
+ ],
548
+ "quat": [
549
+ 0,
550
+ 0.707107,
551
+ 0.707107,
552
+ 0
553
+ ],
554
+ "parent_body": "robot0_right_hand"
555
+ }
556
+ },
557
+ "init_robot_base_pos": [
558
+ 0.8467653132669163,
559
+ -0.36973909891737705,
560
+ 0.0
561
+ ],
562
+ "init_robot_base_ori": [
563
+ 0.0,
564
+ 0.0,
565
+ 3.1415924507432367
566
+ ]
567
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000026/ep_meta.json ADDED
@@ -0,0 +1,475 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 58,
3
+ "style_id": 28,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_18/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.008047655844979263,
36
+ -0.2048361877239476,
37
+ -0.144651037620527
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_1_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.245914494345,
55
+ 0.24590248636500003,
56
+ 0.033029782155
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 0.5807443104209857,
87
+ 0.911783
88
+ ],
89
+ "offset": [
90
+ 0.16542884478950715,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12295124318250002,
108
+ 0.12295124318250002
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "waffle",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "waffle",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12295124318250002,
144
+ 0.12295124318250002
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "pear",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "pear",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_12/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_main_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "floor_1_room": {
185
+ "cls": "Floor"
186
+ },
187
+ "floor_1_backing_room": {
188
+ "cls": "Floor"
189
+ },
190
+ "wallaccessory_1_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "wallaccessory_2_room": {
194
+ "cls": "WallAccessory"
195
+ },
196
+ "wallaccessory_7_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "lightswitch_03_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "wallaccessory_3_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "lightswitch_01_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "lightswitch_02_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "window_group_1_room": {
212
+ "cls": "Window"
213
+ },
214
+ "window_group_2_room": {
215
+ "cls": "Window"
216
+ },
217
+ "window_group_3_room": {
218
+ "cls": "Window"
219
+ },
220
+ "stool_3_room": {
221
+ "cls": "Stool"
222
+ },
223
+ "stool_2_room": {
224
+ "cls": "Stool"
225
+ },
226
+ "stool_1_room": {
227
+ "cls": "Stool"
228
+ },
229
+ "sink_main_group_1": {
230
+ "cls": "Sink"
231
+ },
232
+ "counter_1_main_group_1": {
233
+ "cls": "Counter"
234
+ },
235
+ "hingecabinet_1_main_group_1": {
236
+ "cls": "HingeCabinet"
237
+ },
238
+ "singlecabinet_1_main_group_1": {
239
+ "cls": "SingleCabinet"
240
+ },
241
+ "singlecabinet_2_main_group_1": {
242
+ "cls": "SingleCabinet"
243
+ },
244
+ "hingecabinet_2_main_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "cube_14_main_group_1": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_04_main_group_1_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_04_main_group_1_1": {
254
+ "cls": "HingeCabinet"
255
+ },
256
+ "stack_04_main_group_1_2": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_03_main_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_03_main_group_1_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "stack_03_main_group_1_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_02_main_group_1_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_02_main_group_1_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "stack_02_main_group_1_2": {
275
+ "cls": "PanelCabinet"
276
+ },
277
+ "dishwasher_1_main_group_1": {
278
+ "cls": "Dishwasher"
279
+ },
280
+ "stack_01_main_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_01_main_group_1_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "cube_15_main_group_1": {
287
+ "cls": "Box"
288
+ },
289
+ "coffee_machine_main_group_1": {
290
+ "cls": "CoffeeMachine"
291
+ },
292
+ "paper_towel_main_group_1": {
293
+ "cls": "Accessory"
294
+ },
295
+ "toaster_main_group_1": {
296
+ "cls": "Toaster"
297
+ },
298
+ "bottom_left_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "bottom_left_group_1_1": {
302
+ "cls": "Drawer"
303
+ },
304
+ "microwave_left_group_1": {
305
+ "cls": "Microwave"
306
+ },
307
+ "fridgefrenchdoor_left_group_1": {
308
+ "cls": "FridgeFrenchDoor"
309
+ },
310
+ "fridgefrenchdoor_housing_left_group_1": {
311
+ "cls": "HousingCabinet"
312
+ },
313
+ "oven_cabinet_left_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "hingecabinet_3_left_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "microwave_housing_left_group_1": {
320
+ "cls": "HousingCabinet"
321
+ },
322
+ "top_left_group_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "island_1_island_group_1": {
326
+ "cls": "Counter"
327
+ },
328
+ "island_2_island_group_1": {
329
+ "cls": "Counter"
330
+ },
331
+ "island_3_island_group_1": {
332
+ "cls": "Counter"
333
+ },
334
+ "stove_island_group_1": {
335
+ "cls": "Stove"
336
+ },
337
+ "stove_hood_island_group_1": {
338
+ "cls": "Hood"
339
+ },
340
+ "stack_06_island_group_1_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_06_island_group_1_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "stack_06_island_group_1_2": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_07_island_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_07_island_group_1_1": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_07_island_group_1_2": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_07_island_group_1_3": {
359
+ "cls": "Drawer"
360
+ },
361
+ "cube_1_island_group_1": {
362
+ "cls": "Box"
363
+ },
364
+ "cube_2_island_group_1": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_08_island_group_1_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_08_island_group_1_1": {
371
+ "cls": "SingleCabinet"
372
+ },
373
+ "cube_16_island_group_1": {
374
+ "cls": "Box"
375
+ }
376
+ },
377
+ "gen_textures": {},
378
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
379
+ "fixture_refs": {
380
+ "stool": "stool_2_room",
381
+ "dining_counter": "island_1_island_group_1",
382
+ "coffee_machine": "coffee_machine_main_group_1"
383
+ },
384
+ "cam_configs": {
385
+ "robot0_agentview_center": {
386
+ "pos": [
387
+ -0.6,
388
+ 0.0,
389
+ 1.15
390
+ ],
391
+ "quat": [
392
+ 0.636945903301239,
393
+ 0.3325185477733612,
394
+ -0.3199238181114197,
395
+ -0.6175596117973328
396
+ ],
397
+ "parent_body": "mobilebase0_support"
398
+ },
399
+ "robot0_agentview_left": {
400
+ "pos": [
401
+ -0.5,
402
+ 0.35,
403
+ 1.05
404
+ ],
405
+ "quat": [
406
+ 0.55623853,
407
+ 0.29935253,
408
+ -0.37678665,
409
+ -0.6775092
410
+ ],
411
+ "camera_attribs": {
412
+ "fovy": "60"
413
+ },
414
+ "parent_body": "mobilebase0_support"
415
+ },
416
+ "robot0_agentview_right": {
417
+ "pos": [
418
+ -0.5,
419
+ -0.35,
420
+ 1.05
421
+ ],
422
+ "quat": [
423
+ 0.6775091886520386,
424
+ 0.3767866790294647,
425
+ -0.2993525564670563,
426
+ -0.55623859167099
427
+ ],
428
+ "camera_attribs": {
429
+ "fovy": "60"
430
+ },
431
+ "parent_body": "mobilebase0_support"
432
+ },
433
+ "robot0_frontview": {
434
+ "pos": [
435
+ -0.5,
436
+ 0,
437
+ 0.95
438
+ ],
439
+ "quat": [
440
+ 0.6088936924934387,
441
+ 0.3814677894115448,
442
+ -0.3673907518386841,
443
+ -0.5905545353889465
444
+ ],
445
+ "camera_attribs": {
446
+ "fovy": "60"
447
+ },
448
+ "parent_body": "mobilebase0_support"
449
+ },
450
+ "robot0_eye_in_hand": {
451
+ "pos": [
452
+ 0.05,
453
+ 0,
454
+ 0
455
+ ],
456
+ "quat": [
457
+ 0,
458
+ 0.707107,
459
+ 0.707107,
460
+ 0
461
+ ],
462
+ "parent_body": "robot0_right_hand"
463
+ }
464
+ },
465
+ "init_robot_base_pos": [
466
+ 2.7081996747082044,
467
+ -0.7692256265318657,
468
+ 0.0
469
+ ],
470
+ "init_robot_base_ori": [
471
+ 0.0,
472
+ 0.0,
473
+ 1.5707963267948966
474
+ ]
475
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000027/ep_meta.json ADDED
@@ -0,0 +1,512 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 48,
3
+ "style_id": 20,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_right_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.010759269537085697,
36
+ -0.1844060865051405,
37
+ -0.13090862073002926
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_4_room",
53
+ "min_size": [
54
+ 0.23270280075,
55
+ 0.23270367960000002,
56
+ 0.0122388154875
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.4981278608477955,
87
+ 1.464295
88
+ ],
89
+ "offset": [
90
+ 0.8974270695761022,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.116351400375,
108
+ 0.116351400375
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "baguette",
121
+ "bread_food",
122
+ "food",
123
+ "in_container",
124
+ "food_set1"
125
+ ],
126
+ "groups": [
127
+ "bread_food",
128
+ "pancake",
129
+ "waffle"
130
+ ],
131
+ "cat": "baguette",
132
+ "split": "train",
133
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml"
134
+ }
135
+ },
136
+ {
137
+ "name": "breakfast_item2",
138
+ "obj_groups": [
139
+ "fruit",
140
+ "cheese"
141
+ ],
142
+ "placement": {
143
+ "size": [
144
+ 0.116351400375,
145
+ 0.116351400375
146
+ ],
147
+ "ensure_object_boundary_in_range": false,
148
+ "sample_args": {
149
+ "reference": "breakfast_plate",
150
+ "on_top": true
151
+ }
152
+ },
153
+ "type": "object",
154
+ "info": {
155
+ "groups_containing_sampled_obj": [
156
+ "all",
157
+ "pear",
158
+ "fruit",
159
+ "food",
160
+ "in_container"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "pear",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_12/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_main_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_main_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_right_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_right_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "floor_1_room": {
186
+ "cls": "Floor"
187
+ },
188
+ "floor_1_backing_room": {
189
+ "cls": "Floor"
190
+ },
191
+ "lightswitch_5_room": {
192
+ "cls": "WallAccessory"
193
+ },
194
+ "wallaccessory_1_room": {
195
+ "cls": "WallAccessory"
196
+ },
197
+ "wallaccessory_2_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "lightswitch_6_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "wallaccessory_3_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "lightswitch_1_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "lightswitch_2_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "lightswitch_3_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "stool_1_room": {
216
+ "cls": "Stool"
217
+ },
218
+ "stool_2_room": {
219
+ "cls": "Stool"
220
+ },
221
+ "stool_3_room": {
222
+ "cls": "Stool"
223
+ },
224
+ "stool_4_room": {
225
+ "cls": "Stool"
226
+ },
227
+ "fridgefrenchdoor_right_group_1": {
228
+ "cls": "FridgeFrenchDoor"
229
+ },
230
+ "fridgefrenchdoor_housing_right_group_1": {
231
+ "cls": "HousingCabinet"
232
+ },
233
+ "bottom_right_group_1_base": {
234
+ "cls": "Box"
235
+ },
236
+ "bottom_right_group_1_1": {
237
+ "cls": "Drawer"
238
+ },
239
+ "microwave_right_group_1": {
240
+ "cls": "Microwave"
241
+ },
242
+ "oven_cabinet_right_group_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "hingecabinet_5_right_group_1": {
246
+ "cls": "HingeCabinet"
247
+ },
248
+ "microwave_housing_right_group_1": {
249
+ "cls": "HousingCabinet"
250
+ },
251
+ "top_right_group_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "hingecabinet_4_right_group_1": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "hingecabinet_2_right_group_1": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "hingecabinet_3_right_group_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "opencabinet_right_group_1": {
264
+ "cls": "OpenCabinet"
265
+ },
266
+ "sink_right_group_1": {
267
+ "cls": "Sink"
268
+ },
269
+ "counter_3_right_group_1": {
270
+ "cls": "Counter"
271
+ },
272
+ "stack_04_right_group_1_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_04_right_group_1_1": {
276
+ "cls": "SingleCabinet"
277
+ },
278
+ "stack_04_right_group_1_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_06_right_group_1_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_06_right_group_1_1": {
285
+ "cls": "Drawer"
286
+ },
287
+ "stack_06_right_group_1_2": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_06_right_group_1_3": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_03_right_group_1_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_03_right_group_1_1": {
297
+ "cls": "HingeCabinet"
298
+ },
299
+ "stack_03_right_group_1_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_05_right_group_1_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_05_right_group_1_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "stack_05_right_group_1_2": {
309
+ "cls": "PanelCabinet"
310
+ },
311
+ "cube_2_right_group_1": {
312
+ "cls": "Box"
313
+ },
314
+ "cube_1_right_group_1": {
315
+ "cls": "Box"
316
+ },
317
+ "dishwasher_1_right_group_1": {
318
+ "cls": "Dishwasher"
319
+ },
320
+ "coffee_machine_right_group_1": {
321
+ "cls": "CoffeeMachine"
322
+ },
323
+ "toaster_right_group_1": {
324
+ "cls": "Toaster"
325
+ },
326
+ "counter_1_main_group_1": {
327
+ "cls": "Counter"
328
+ },
329
+ "counter_corner_1_main_group_1": {
330
+ "cls": "Counter"
331
+ },
332
+ "widestove_main_group_1": {
333
+ "cls": "Stove"
334
+ },
335
+ "stove_hood_main_group_1": {
336
+ "cls": "Hood"
337
+ },
338
+ "counter_2_main_group_1": {
339
+ "cls": "Counter"
340
+ },
341
+ "stack_02_main_group_1_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_02_main_group_1_1": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "stack_01_main_group_1_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_01_main_group_1_1": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "hingecabinet_1_main_group_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "singlecabinet_1_main_group_1": {
357
+ "cls": "SingleCabinet"
358
+ },
359
+ "cube_4_main_group_1": {
360
+ "cls": "Box"
361
+ },
362
+ "papertowel_main_group_1": {
363
+ "cls": "Accessory"
364
+ },
365
+ "toaster_oven_main_group_1": {
366
+ "cls": "ToasterOven"
367
+ },
368
+ "island_island_group_1": {
369
+ "cls": "Counter"
370
+ },
371
+ "cube_1_island_group_1": {
372
+ "cls": "Box"
373
+ },
374
+ "cube_2_island_group_1": {
375
+ "cls": "Box"
376
+ },
377
+ "cube_3_island_group_1": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_09_island_group_1_base": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_09_island_group_1_1": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_09_island_group_1_2": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_09_island_group_1_3": {
390
+ "cls": "Drawer"
391
+ },
392
+ "stack_08_island_group_1_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_08_island_group_1_1": {
396
+ "cls": "Drawer"
397
+ },
398
+ "stack_08_island_group_1_2": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_08_island_group_1_3": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_07_island_group_1_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_07_island_group_1_1": {
408
+ "cls": "Drawer"
409
+ },
410
+ "stack_07_island_group_1_2": {
411
+ "cls": "HingeCabinet"
412
+ }
413
+ },
414
+ "gen_textures": {},
415
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
416
+ "fixture_refs": {
417
+ "stool": "stool_4_room",
418
+ "dining_counter": "island_island_group_1",
419
+ "coffee_machine": "coffee_machine_right_group_1"
420
+ },
421
+ "cam_configs": {
422
+ "robot0_agentview_center": {
423
+ "pos": [
424
+ -0.6,
425
+ 0.0,
426
+ 1.15
427
+ ],
428
+ "quat": [
429
+ 0.636945903301239,
430
+ 0.3325185477733612,
431
+ -0.3199238181114197,
432
+ -0.6175596117973328
433
+ ],
434
+ "parent_body": "mobilebase0_support"
435
+ },
436
+ "robot0_agentview_left": {
437
+ "pos": [
438
+ -0.5,
439
+ 0.35,
440
+ 1.05
441
+ ],
442
+ "quat": [
443
+ 0.55623853,
444
+ 0.29935253,
445
+ -0.37678665,
446
+ -0.6775092
447
+ ],
448
+ "camera_attribs": {
449
+ "fovy": "60"
450
+ },
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_agentview_right": {
454
+ "pos": [
455
+ -0.5,
456
+ -0.35,
457
+ 1.05
458
+ ],
459
+ "quat": [
460
+ 0.6775091886520386,
461
+ 0.3767866790294647,
462
+ -0.2993525564670563,
463
+ -0.55623859167099
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_frontview": {
471
+ "pos": [
472
+ -0.5,
473
+ 0,
474
+ 0.95
475
+ ],
476
+ "quat": [
477
+ 0.6088936924934387,
478
+ 0.3814677894115448,
479
+ -0.3673907518386841,
480
+ -0.5905545353889465
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_eye_in_hand": {
488
+ "pos": [
489
+ 0.05,
490
+ 0,
491
+ 0
492
+ ],
493
+ "quat": [
494
+ 0,
495
+ 0.707107,
496
+ 0.707107,
497
+ 0
498
+ ],
499
+ "parent_body": "robot0_right_hand"
500
+ }
501
+ },
502
+ "init_robot_base_pos": [
503
+ 3.7068964420751294,
504
+ -3.7193703199468384,
505
+ 0.0
506
+ ],
507
+ "init_robot_base_ori": [
508
+ 0.0,
509
+ 0.0,
510
+ -0.00014782238328514552
511
+ ]
512
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000028/ep_meta.json ADDED
@@ -0,0 +1,565 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 35,
3
+ "style_id": 59,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffeemachine_left_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -5.918694079258652e-05,
36
+ -0.17386865981763852,
37
+ -0.1322404301188131
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "counter_2_right_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_stool_group_1",
53
+ "min_size": [
54
+ 0.245475224055,
55
+ 0.24547526901,
56
+ 0.01497314187
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 2.251386208410528,
87
+ 0.65
88
+ ],
89
+ "offset": [
90
+ -0.02085689579473593,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1227376120275,
108
+ 0.1227376120275
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "pancake",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "pancake",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes003/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1227376120275,
144
+ 0.1227376120275
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "kiwi",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "kiwi",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_2_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_2_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_main_3_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_main_3_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "floor_1_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_1_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "wallaccessory_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wallaccessory.002_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wallaccessory.003_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "stool_3_room": {
224
+ "cls": "Stool"
225
+ },
226
+ "stool_2_room": {
227
+ "cls": "Stool"
228
+ },
229
+ "stool_1_room": {
230
+ "cls": "Stool"
231
+ },
232
+ "counter_1_main_group_1": {
233
+ "cls": "Counter"
234
+ },
235
+ "counter_corner_1_main_group_1": {
236
+ "cls": "Counter"
237
+ },
238
+ "hingecabinet_1_main_group_1": {
239
+ "cls": "HingeCabinet"
240
+ },
241
+ "box_1_main_group_1": {
242
+ "cls": "Box"
243
+ },
244
+ "hingecabinet_2_main_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "stack_1_main_group_1_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_1_main_group_1_1": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_1_main_group_1_2": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_1_main_group_1_3": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_2_main_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_2_main_group_1_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "fridgefrenchdoor_main_group_1": {
266
+ "cls": "FridgeFrenchDoor"
267
+ },
268
+ "fridgefrenchdoor_housing_main_group_1": {
269
+ "cls": "HousingCabinet"
270
+ },
271
+ "knifeblock_main_group_1": {
272
+ "cls": "Accessory"
273
+ },
274
+ "paper_towel_main_group_1": {
275
+ "cls": "Accessory"
276
+ },
277
+ "toaster_main_group_1": {
278
+ "cls": "Toaster"
279
+ },
280
+ "sink_right_group_1": {
281
+ "cls": "Sink"
282
+ },
283
+ "counter_1_right_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "counter_2_right_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "singlecabinet_1_right_group_1": {
290
+ "cls": "SingleCabinet"
291
+ },
292
+ "cube_2_right_group_1": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_3_right_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_3_right_group_1_1": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_3_right_group_1_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_3_right_group_1_3": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_1_right_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_1_right_group_1_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "cube_1_right_group_1": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_2_right_group_1_base": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_2_right_group_1_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "stack_2_right_group_1_2": {
323
+ "cls": "PanelCabinet"
324
+ },
325
+ "dishwasher_1_right_group_1": {
326
+ "cls": "Dishwasher"
327
+ },
328
+ "cube_3_right_group_1": {
329
+ "cls": "Box"
330
+ },
331
+ "stovetop_left_group_1": {
332
+ "cls": "Stovetop"
333
+ },
334
+ "counter_1_left_group_1": {
335
+ "cls": "Counter"
336
+ },
337
+ "hingecabinet_3_left_group_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "hingecabinet_2_left_group_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "hingecabinet_1_left_group_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "bottom_left_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "bottom_left_group_1_1": {
350
+ "cls": "Drawer"
351
+ },
352
+ "oven_left_group_1": {
353
+ "cls": "Oven"
354
+ },
355
+ "oven_housing_left_group_1": {
356
+ "cls": "HousingCabinet"
357
+ },
358
+ "microwave_left_group_1": {
359
+ "cls": "Microwave"
360
+ },
361
+ "microwave_housing_left_group_1": {
362
+ "cls": "HousingCabinet"
363
+ },
364
+ "top_left_group_1": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "stack_1_left_group_1_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_1_left_group_1_1": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "stack_1_left_group_1_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_2_left_group_1_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_2_left_group_1_1": {
380
+ "cls": "HingeCabinet"
381
+ },
382
+ "stack_2_left_group_1_2": {
383
+ "cls": "PanelCabinet"
384
+ },
385
+ "stack_3_left_group_1_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_3_left_group_1_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "stack_3_left_group_1_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "coffeemachine_left_group_1": {
395
+ "cls": "CoffeeMachine"
396
+ },
397
+ "toaster_oven_left_group_1": {
398
+ "cls": "ToasterOven"
399
+ },
400
+ "counter_1_island_group": {
401
+ "cls": "Counter"
402
+ },
403
+ "stack_2_island_group_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_2_island_group_1": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_2_island_group_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_1_island_group_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_1_island_group_1": {
416
+ "cls": "SingleCabinet"
417
+ },
418
+ "stack_3_island_group_base": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_3_island_group_1": {
422
+ "cls": "SingleCabinet"
423
+ },
424
+ "plant_island_group": {
425
+ "cls": "Accessory"
426
+ },
427
+ "stack_2_dining_area_group_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_2_dining_area_group_1": {
431
+ "cls": "HingeCabinet"
432
+ },
433
+ "stack_2_dining_area_group_2": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_4_dining_area_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_4_dining_area_group_1": {
440
+ "cls": "SingleCabinet"
441
+ },
442
+ "stack_1_dining_area_group_base": {
443
+ "cls": "Box"
444
+ },
445
+ "stack_1_dining_area_group_1": {
446
+ "cls": "SingleCabinet"
447
+ },
448
+ "stack_3_dining_area_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_3_dining_area_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_3_dining_area_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stool_3_stool_group_1": {
458
+ "cls": "Stool"
459
+ },
460
+ "stool_2_stool_group_1": {
461
+ "cls": "Stool"
462
+ },
463
+ "stool_1_stool_group_1": {
464
+ "cls": "Stool"
465
+ }
466
+ },
467
+ "gen_textures": {},
468
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
469
+ "fixture_refs": {
470
+ "stool": "stool_2_stool_group_1",
471
+ "dining_counter": "counter_2_right_group_1",
472
+ "coffee_machine": "coffeemachine_left_group_1"
473
+ },
474
+ "cam_configs": {
475
+ "robot0_agentview_center": {
476
+ "pos": [
477
+ -0.6,
478
+ 0.0,
479
+ 1.15
480
+ ],
481
+ "quat": [
482
+ 0.636945903301239,
483
+ 0.3325185477733612,
484
+ -0.3199238181114197,
485
+ -0.6175596117973328
486
+ ],
487
+ "parent_body": "mobilebase0_support"
488
+ },
489
+ "robot0_agentview_left": {
490
+ "pos": [
491
+ -0.5,
492
+ 0.35,
493
+ 1.05
494
+ ],
495
+ "quat": [
496
+ 0.55623853,
497
+ 0.29935253,
498
+ -0.37678665,
499
+ -0.6775092
500
+ ],
501
+ "camera_attribs": {
502
+ "fovy": "60"
503
+ },
504
+ "parent_body": "mobilebase0_support"
505
+ },
506
+ "robot0_agentview_right": {
507
+ "pos": [
508
+ -0.5,
509
+ -0.35,
510
+ 1.05
511
+ ],
512
+ "quat": [
513
+ 0.6775091886520386,
514
+ 0.3767866790294647,
515
+ -0.2993525564670563,
516
+ -0.55623859167099
517
+ ],
518
+ "camera_attribs": {
519
+ "fovy": "60"
520
+ },
521
+ "parent_body": "mobilebase0_support"
522
+ },
523
+ "robot0_frontview": {
524
+ "pos": [
525
+ -0.5,
526
+ 0,
527
+ 0.95
528
+ ],
529
+ "quat": [
530
+ 0.6088936924934387,
531
+ 0.3814677894115448,
532
+ -0.3673907518386841,
533
+ -0.5905545353889465
534
+ ],
535
+ "camera_attribs": {
536
+ "fovy": "60"
537
+ },
538
+ "parent_body": "mobilebase0_support"
539
+ },
540
+ "robot0_eye_in_hand": {
541
+ "pos": [
542
+ 0.05,
543
+ 0,
544
+ 0
545
+ ],
546
+ "quat": [
547
+ 0,
548
+ 0.707107,
549
+ 0.707107,
550
+ 0
551
+ ],
552
+ "parent_body": "robot0_right_hand"
553
+ }
554
+ },
555
+ "init_robot_base_pos": [
556
+ 0.7738977724146469,
557
+ -0.37079560940343065,
558
+ 0.0
559
+ ],
560
+ "init_robot_base_ori": [
561
+ 0.0,
562
+ 0.0,
563
+ 3.1415924507432367
564
+ ]
565
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000029/ep_meta.json ADDED
@@ -0,0 +1,501 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 60,
3
+ "style_id": 59,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -5.918694079258652e-05,
36
+ -0.17386865981763852,
37
+ -0.1322404301188131
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "counter_5_left_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.245475224055,
55
+ 0.24547526901,
56
+ 0.01497314187
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 3.383407894556147,
87
+ 0.394049
88
+ ],
89
+ "offset": [
90
+ -0.08336505272192651,
91
+ 0.0,
92
+ 0.591655
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1227376120275,
108
+ 0.1227376120275
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "waffle",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "waffle",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_1/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1227376120275,
144
+ 0.1227376120275
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "banana",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1",
161
+ "group1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "banana",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_14/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_left_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_left_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_1_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_1_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_right_2_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_right_2_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_main_2_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "floor_1_room": {
202
+ "cls": "Floor"
203
+ },
204
+ "floor_1_backing_room": {
205
+ "cls": "Floor"
206
+ },
207
+ "wallaccessory_01_room": {
208
+ "cls": "WallAccessory"
209
+ },
210
+ "lightswitch_01_room": {
211
+ "cls": "WallAccessory"
212
+ },
213
+ "wallaccessory_04_room": {
214
+ "cls": "WallAccessory"
215
+ },
216
+ "wallaccessory_12_room": {
217
+ "cls": "WallAccessory"
218
+ },
219
+ "wallaccessory_06_room": {
220
+ "cls": "WallAccessory"
221
+ },
222
+ "wallaccessory_07_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "wallaccessory_08_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wallaccessory_09_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "wallaccessory_10_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "stool_1_room": {
235
+ "cls": "Stool"
236
+ },
237
+ "stool_2_room": {
238
+ "cls": "Stool"
239
+ },
240
+ "counter_corner_1_main_group_1": {
241
+ "cls": "Counter"
242
+ },
243
+ "counter_2_main_group_1": {
244
+ "cls": "Counter"
245
+ },
246
+ "counter_11_main_group_1": {
247
+ "cls": "Counter"
248
+ },
249
+ "counter_3_main_group_1": {
250
+ "cls": "Counter"
251
+ },
252
+ "stove_main_group_1": {
253
+ "cls": "Stove"
254
+ },
255
+ "microwave_main_group_1": {
256
+ "cls": "Microwave"
257
+ },
258
+ "micro_cab_main_group_1": {
259
+ "cls": "HingeCabinet"
260
+ },
261
+ "hingecabinet_01_main_group_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "hingecabinet_02_main_group_1": {
265
+ "cls": "HingeCabinet"
266
+ },
267
+ "cube_3_main_group_1": {
268
+ "cls": "Box"
269
+ },
270
+ "singlecabinet_01_main_group_1": {
271
+ "cls": "SingleCabinet"
272
+ },
273
+ "stack_6_main_group_1_base": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_6_main_group_1_1": {
277
+ "cls": "Drawer"
278
+ },
279
+ "stack_6_main_group_1_2": {
280
+ "cls": "Drawer"
281
+ },
282
+ "stack_6_main_group_1_3": {
283
+ "cls": "Drawer"
284
+ },
285
+ "stack_5_main_group_1_base": {
286
+ "cls": "Box"
287
+ },
288
+ "stack_5_main_group_1_1": {
289
+ "cls": "SingleCabinet"
290
+ },
291
+ "cube_11_main_group_1": {
292
+ "cls": "Box"
293
+ },
294
+ "cube_12_main_group_1": {
295
+ "cls": "Box"
296
+ },
297
+ "coffee_machine_main_group_1": {
298
+ "cls": "CoffeeMachine"
299
+ },
300
+ "paper_towel_main_group_1": {
301
+ "cls": "Accessory"
302
+ },
303
+ "plant_main_group_1": {
304
+ "cls": "Accessory"
305
+ },
306
+ "fridgebottomfreezer_right_group_1": {
307
+ "cls": "FridgeBottomFreezer"
308
+ },
309
+ "fridgebottomfreezer_housing_right_group_1": {
310
+ "cls": "HousingCabinet"
311
+ },
312
+ "hingecabinet_05_right_group_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "counter_6_right_group_1": {
316
+ "cls": "Counter"
317
+ },
318
+ "hingecabinet_04_right_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "hingecabinet_06_right_group_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "stack_7_right_group_1_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_7_right_group_1_1": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "stack_7_right_group_1_2": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_8_right_group_1_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_8_right_group_1_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "cube_13_right_group_1": {
340
+ "cls": "Box"
341
+ },
342
+ "toaster_oven_right_group_1": {
343
+ "cls": "ToasterOven"
344
+ },
345
+ "sink_left_group_1": {
346
+ "cls": "Sink"
347
+ },
348
+ "counter_1_left_group_1": {
349
+ "cls": "Counter"
350
+ },
351
+ "counter_5_left_group_1": {
352
+ "cls": "Counter"
353
+ },
354
+ "cube_1_left_group_1": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_left_group_1_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_1_left_group_1_1": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_1_left_group_1_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_4_left_group_1_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_4_left_group_1_1": {
370
+ "cls": "SingleCabinet"
371
+ },
372
+ "stack_2_left_group_1_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_2_left_group_1_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "stack_2_left_group_1_2": {
379
+ "cls": "PanelCabinet"
380
+ },
381
+ "stack_3_left_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_3_left_group_1_1": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_3_left_group_1_2": {
388
+ "cls": "Drawer"
389
+ },
390
+ "cube_4_left_group_1": {
391
+ "cls": "Box"
392
+ },
393
+ "cube_2_left_group_1": {
394
+ "cls": "Box"
395
+ },
396
+ "dishwasher_1_left_group_1": {
397
+ "cls": "Dishwasher"
398
+ },
399
+ "toaster_left_group_1": {
400
+ "cls": "Toaster"
401
+ }
402
+ },
403
+ "gen_textures": {},
404
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
405
+ "fixture_refs": {
406
+ "stool": "stool_1_room",
407
+ "dining_counter": "counter_5_left_group_1",
408
+ "coffee_machine": "coffee_machine_main_group_1"
409
+ },
410
+ "cam_configs": {
411
+ "robot0_agentview_center": {
412
+ "pos": [
413
+ -0.6,
414
+ 0.0,
415
+ 1.15
416
+ ],
417
+ "quat": [
418
+ 0.636945903301239,
419
+ 0.3325185477733612,
420
+ -0.3199238181114197,
421
+ -0.6175596117973328
422
+ ],
423
+ "parent_body": "mobilebase0_support"
424
+ },
425
+ "robot0_agentview_left": {
426
+ "pos": [
427
+ -0.5,
428
+ 0.35,
429
+ 1.05
430
+ ],
431
+ "quat": [
432
+ 0.55623853,
433
+ 0.29935253,
434
+ -0.37678665,
435
+ -0.6775092
436
+ ],
437
+ "camera_attribs": {
438
+ "fovy": "60"
439
+ },
440
+ "parent_body": "mobilebase0_support"
441
+ },
442
+ "robot0_agentview_right": {
443
+ "pos": [
444
+ -0.5,
445
+ -0.35,
446
+ 1.05
447
+ ],
448
+ "quat": [
449
+ 0.6775091886520386,
450
+ 0.3767866790294647,
451
+ -0.2993525564670563,
452
+ -0.55623859167099
453
+ ],
454
+ "camera_attribs": {
455
+ "fovy": "60"
456
+ },
457
+ "parent_body": "mobilebase0_support"
458
+ },
459
+ "robot0_frontview": {
460
+ "pos": [
461
+ -0.5,
462
+ 0,
463
+ 0.95
464
+ ],
465
+ "quat": [
466
+ 0.6088936924934387,
467
+ 0.3814677894115448,
468
+ -0.3673907518386841,
469
+ -0.5905545353889465
470
+ ],
471
+ "camera_attribs": {
472
+ "fovy": "60"
473
+ },
474
+ "parent_body": "mobilebase0_support"
475
+ },
476
+ "robot0_eye_in_hand": {
477
+ "pos": [
478
+ 0.05,
479
+ 0,
480
+ 0
481
+ ],
482
+ "quat": [
483
+ 0,
484
+ 0.707107,
485
+ 0.707107,
486
+ 0
487
+ ],
488
+ "parent_body": "robot0_right_hand"
489
+ }
490
+ },
491
+ "init_robot_base_pos": [
492
+ 2.712148603772152,
493
+ -0.8356463539056658,
494
+ 0.0
495
+ ],
496
+ "init_robot_base_ori": [
497
+ 0.0,
498
+ 0.0,
499
+ 1.5707963267948966
500
+ ]
501
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000030/ep_meta.json ADDED
@@ -0,0 +1,580 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 15,
3
+ "style_id": 53,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.009692559154409456,
36
+ -0.17048777889394534,
37
+ -0.1437816339313936
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_3_room",
53
+ "min_size": [
54
+ 0.245914494345,
55
+ 0.24590248636500003,
56
+ 0.033029782155
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 0.49967931308539315,
87
+ 1.47
88
+ ],
89
+ "offset": [
90
+ -0.69799995320958,
91
+ 2.0816681711721685e-17,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12295124318250002,
108
+ 0.12295124318250002
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread005/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12295124318250002,
144
+ 0.12295124318250002
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "kiwi",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "kiwi",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_main_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_left_2_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_left_2_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_left_3_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_left_3_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_front_1_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_front_1_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_right_1_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_right_1_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_right_2_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_right_2_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_front_2_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_front_2_backing_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_main_2_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_main_2_backing_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_left_4_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_left_4_backing_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_left_5_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_left_5_backing_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "floor_1_room": {
239
+ "cls": "Floor"
240
+ },
241
+ "floor_1_backing_room": {
242
+ "cls": "Floor"
243
+ },
244
+ "floor_2_room": {
245
+ "cls": "Floor"
246
+ },
247
+ "floor_2_backing_room": {
248
+ "cls": "Floor"
249
+ },
250
+ "floor_3_room": {
251
+ "cls": "Floor"
252
+ },
253
+ "floor_3_backing_room": {
254
+ "cls": "Floor"
255
+ },
256
+ "wall_accessory_1_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "wall_accessory_2_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "wall_accessory_3_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "light_switch_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "wall_accessory_4_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "wall_accessory_5_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "wall_accessory_6_room": {
275
+ "cls": "WallAccessory"
276
+ },
277
+ "stool_1_room": {
278
+ "cls": "Stool"
279
+ },
280
+ "stool_2_room": {
281
+ "cls": "Stool"
282
+ },
283
+ "stool_3_room": {
284
+ "cls": "Stool"
285
+ },
286
+ "fridge_1_main_group_1": {
287
+ "cls": "FridgeFrenchDoor"
288
+ },
289
+ "fridge_1_housing_main_group_1": {
290
+ "cls": "HousingCabinet"
291
+ },
292
+ "fridge_top_main_group_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "bottom_main_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "bottom_main_group_1_1": {
299
+ "cls": "Drawer"
300
+ },
301
+ "oven_main_group_1": {
302
+ "cls": "Oven"
303
+ },
304
+ "oven_housing_main_group_1": {
305
+ "cls": "HousingCabinet"
306
+ },
307
+ "microwave_main_group_1": {
308
+ "cls": "Microwave"
309
+ },
310
+ "microwave_housing_main_group_1": {
311
+ "cls": "HousingCabinet"
312
+ },
313
+ "top_main_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "counter_1_main_group_1": {
317
+ "cls": "Counter"
318
+ },
319
+ "stack_1_main_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_1_main_group_1_1": {
323
+ "cls": "Drawer"
324
+ },
325
+ "stack_1_main_group_1_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_1_main_group_1_3": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_2_main_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_2_main_group_1_1": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "stack_2_main_group_1_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "cab_1_main_group_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "toaster_main_group_1": {
344
+ "cls": "Toaster"
345
+ },
346
+ "stovetop_1_left_group_1": {
347
+ "cls": "Stovetop"
348
+ },
349
+ "counter_1_left_group_1": {
350
+ "cls": "Counter"
351
+ },
352
+ "stack_1_left_group_1_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_1_left_group_1_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "stack_1_left_group_1_2": {
359
+ "cls": "PanelCabinet"
360
+ },
361
+ "stack_2_left_group_1_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_2_left_group_1_1": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "stack_2_left_group_1_2": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_3_left_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_3_left_group_1_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_3_left_group_1_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "hood_left_group_1": {
380
+ "cls": "Hood"
381
+ },
382
+ "cab_1_left_group_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "cab_2_left_group_1": {
386
+ "cls": "HingeCabinet"
387
+ },
388
+ "coffee_machine_left_group_1": {
389
+ "cls": "CoffeeMachine"
390
+ },
391
+ "counter_1_front_group_1": {
392
+ "cls": "Counter"
393
+ },
394
+ "stack_1_front_group_1_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_1_front_group_1_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "stack_1_front_group_1_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_2_front_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_2_front_group_1_1": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "stack_2_front_group_1_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_3_front_group_1_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_3_front_group_1_1": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "stack_3_front_group_1_2": {
419
+ "cls": "Drawer"
420
+ },
421
+ "cab_1_front_group_1": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "cab_2_front_group_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "cab_3_front_group_1": {
428
+ "cls": "HingeCabinet"
429
+ },
430
+ "toaster_oven_front_group_1": {
431
+ "cls": "ToasterOven"
432
+ },
433
+ "sink_island_group": {
434
+ "cls": "Sink"
435
+ },
436
+ "island_island_group": {
437
+ "cls": "Counter"
438
+ },
439
+ "panel_stack_island_group_base": {
440
+ "cls": "Box"
441
+ },
442
+ "panel_stack_island_group_1": {
443
+ "cls": "PanelCabinet"
444
+ },
445
+ "dishwasher_island_group": {
446
+ "cls": "Dishwasher"
447
+ },
448
+ "box_island_group": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_1_island_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_1_island_group_1": {
455
+ "cls": "HingeCabinet"
456
+ },
457
+ "stack_1_island_group_2": {
458
+ "cls": "PanelCabinet"
459
+ },
460
+ "stack_2_island_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_2_island_group_1": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "stack_2_island_group_2": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_2_island_group_3": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_3_island_group_base": {
473
+ "cls": "Box"
474
+ },
475
+ "stack_3_island_group_1": {
476
+ "cls": "PanelCabinet"
477
+ },
478
+ "paper_towel_island_group": {
479
+ "cls": "Accessory"
480
+ }
481
+ },
482
+ "gen_textures": {},
483
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
484
+ "fixture_refs": {
485
+ "stool": "stool_3_room",
486
+ "dining_counter": "island_island_group",
487
+ "coffee_machine": "coffee_machine_left_group_1"
488
+ },
489
+ "cam_configs": {
490
+ "robot0_agentview_center": {
491
+ "pos": [
492
+ -0.6,
493
+ 0.0,
494
+ 1.15
495
+ ],
496
+ "quat": [
497
+ 0.636945903301239,
498
+ 0.3325185477733612,
499
+ -0.3199238181114197,
500
+ -0.6175596117973328
501
+ ],
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_agentview_left": {
505
+ "pos": [
506
+ -0.5,
507
+ 0.35,
508
+ 1.05
509
+ ],
510
+ "quat": [
511
+ 0.55623853,
512
+ 0.29935253,
513
+ -0.37678665,
514
+ -0.6775092
515
+ ],
516
+ "camera_attribs": {
517
+ "fovy": "60"
518
+ },
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_agentview_right": {
522
+ "pos": [
523
+ -0.5,
524
+ -0.35,
525
+ 1.05
526
+ ],
527
+ "quat": [
528
+ 0.6775091886520386,
529
+ 0.3767866790294647,
530
+ -0.2993525564670563,
531
+ -0.55623859167099
532
+ ],
533
+ "camera_attribs": {
534
+ "fovy": "60"
535
+ },
536
+ "parent_body": "mobilebase0_support"
537
+ },
538
+ "robot0_frontview": {
539
+ "pos": [
540
+ -0.5,
541
+ 0,
542
+ 0.95
543
+ ],
544
+ "quat": [
545
+ 0.6088936924934387,
546
+ 0.3814677894115448,
547
+ -0.3673907518386841,
548
+ -0.5905545353889465
549
+ ],
550
+ "camera_attribs": {
551
+ "fovy": "60"
552
+ },
553
+ "parent_body": "mobilebase0_support"
554
+ },
555
+ "robot0_eye_in_hand": {
556
+ "pos": [
557
+ 0.05,
558
+ 0,
559
+ 0
560
+ ],
561
+ "quat": [
562
+ 0,
563
+ 0.707107,
564
+ 0.707107,
565
+ 0
566
+ ],
567
+ "parent_body": "robot0_right_hand"
568
+ }
569
+ },
570
+ "init_robot_base_pos": [
571
+ 0.7871207645879191,
572
+ -2.5710765094587535,
573
+ 0.0
574
+ ],
575
+ "init_robot_base_ori": [
576
+ 0.0,
577
+ 0.0,
578
+ 3.1415926193612504
579
+ ]
580
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000031/ep_meta.json ADDED
@@ -0,0 +1,692 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 25,
3
+ "style_id": 41,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_18/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.01571272174708326,
36
+ -0.056516300219675,
37
+ -0.12788324250604552
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.23125013257500002,
55
+ 0.23125020817500003,
56
+ 0.018714614625
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 3.353,
87
+ 1.4
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11562506628750001,
108
+ 0.11562506628750001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread006/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11562506628750001,
144
+ 0.11562506628750001
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "orange",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "orange",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_left_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_left_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_main_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_main_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_right_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_right_1_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "floor_1_room": {
192
+ "cls": "Floor"
193
+ },
194
+ "floor_1_backing_room": {
195
+ "cls": "Floor"
196
+ },
197
+ "wall_accessory_1_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "wall_accessory_2_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "light_switch_1_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "wall_accessory_3_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "light_switch_2_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "light_switch_3_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "wall_accessory_4_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "wall_accessory_5_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "wall_accessory_6_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "wall_accessory_7_room": {
225
+ "cls": "WallAccessory"
226
+ },
227
+ "window_group_1_room": {
228
+ "cls": "Window"
229
+ },
230
+ "window_group_2_room": {
231
+ "cls": "Window"
232
+ },
233
+ "stool_1_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "stool_2_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "counter_corner_main_group": {
240
+ "cls": "Counter"
241
+ },
242
+ "counter_1_main_group": {
243
+ "cls": "Counter"
244
+ },
245
+ "stove_main_group": {
246
+ "cls": "Stove"
247
+ },
248
+ "counter_2_main_group": {
249
+ "cls": "Counter"
250
+ },
251
+ "stack_1_main_group_base": {
252
+ "cls": "Box"
253
+ },
254
+ "stack_1_main_group_1": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "stack_2_main_group_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_2_main_group_1": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_2_main_group_2": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_2_main_group_3": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_2_main_group_4": {
270
+ "cls": "Drawer"
271
+ },
272
+ "stack_3_main_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_3_main_group_1": {
276
+ "cls": "SingleCabinet"
277
+ },
278
+ "box_1_main_group": {
279
+ "cls": "Box"
280
+ },
281
+ "stack_4_main_group_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_4_main_group_1": {
285
+ "cls": "SingleCabinet"
286
+ },
287
+ "stack_5_main_group_base": {
288
+ "cls": "Box"
289
+ },
290
+ "stack_5_main_group_1": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_5_main_group_2": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_5_main_group_3": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_5_main_group_4": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_6_main_group_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_6_main_group_1": {
306
+ "cls": "SingleCabinet"
307
+ },
308
+ "box_2_main_group": {
309
+ "cls": "Box"
310
+ },
311
+ "hood_main_group": {
312
+ "cls": "Hood"
313
+ },
314
+ "cab_corner_1_main_group": {
315
+ "cls": "Box"
316
+ },
317
+ "cab_1_main_group": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "cab_1_above_main_group": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "cab_2_main_group": {
324
+ "cls": "SingleCabinet"
325
+ },
326
+ "cab_2_above_main_group": {
327
+ "cls": "SingleCabinet"
328
+ },
329
+ "cab_corner_2_main_group": {
330
+ "cls": "Box"
331
+ },
332
+ "cab_3_main_group": {
333
+ "cls": "SingleCabinet"
334
+ },
335
+ "cab_3_above_main_group": {
336
+ "cls": "SingleCabinet"
337
+ },
338
+ "cab_4_main_group": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "cab_4_above_main_group": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "coffee_machine_main_group": {
345
+ "cls": "CoffeeMachine"
346
+ },
347
+ "toaster_main_group": {
348
+ "cls": "Toaster"
349
+ },
350
+ "knife_block_main_group": {
351
+ "cls": "Accessory"
352
+ },
353
+ "sink_1_left_group": {
354
+ "cls": "Sink"
355
+ },
356
+ "counter_1_left_group": {
357
+ "cls": "Counter"
358
+ },
359
+ "box_left_group": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_1_left_group_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_1_left_group_1": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "stack_2_left_group_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_2_left_group_1": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "dishwasher_left_group": {
375
+ "cls": "Dishwasher"
376
+ },
377
+ "stack_3_left_group_base": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_3_left_group_1": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_3_left_group_2": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_4_left_group_base": {
387
+ "cls": "Box"
388
+ },
389
+ "stack_4_left_group_1": {
390
+ "cls": "Drawer"
391
+ },
392
+ "stack_4_left_group_2": {
393
+ "cls": "Drawer"
394
+ },
395
+ "stack_5_left_group_base": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_5_left_group_1": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "stack_5_left_group_2": {
402
+ "cls": "Drawer"
403
+ },
404
+ "cab_1_left_group": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "cab_2_left_group": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "cab_3_left_group": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "cab_4_left_group": {
414
+ "cls": "SingleCabinet"
415
+ },
416
+ "cab_5_left_group": {
417
+ "cls": "HingeCabinet"
418
+ },
419
+ "cab_6_left_group": {
420
+ "cls": "HingeCabinet"
421
+ },
422
+ "paper_towel_left_group": {
423
+ "cls": "Accessory"
424
+ },
425
+ "toaster_oven_left_group": {
426
+ "cls": "ToasterOven"
427
+ },
428
+ "corner_counter_right_group": {
429
+ "cls": "Counter"
430
+ },
431
+ "counter_1_right_group": {
432
+ "cls": "Counter"
433
+ },
434
+ "box_right_group": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_1_right_group_base": {
438
+ "cls": "Box"
439
+ },
440
+ "stack_1_right_group_1": {
441
+ "cls": "PanelCabinet"
442
+ },
443
+ "fridge_right_group": {
444
+ "cls": "FridgeFrenchDoor"
445
+ },
446
+ "fridge_housing_right_group": {
447
+ "cls": "HousingCabinet"
448
+ },
449
+ "bottom_right_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "bottom_right_group_1": {
453
+ "cls": "HingeCabinet"
454
+ },
455
+ "middle_right_group": {
456
+ "cls": "HingeCabinet"
457
+ },
458
+ "microwave_right_group": {
459
+ "cls": "Microwave"
460
+ },
461
+ "microwave_housing_right_group": {
462
+ "cls": "HousingCabinet"
463
+ },
464
+ "top_right_group": {
465
+ "cls": "HingeCabinet"
466
+ },
467
+ "cab_1_right_group": {
468
+ "cls": "HingeCabinet"
469
+ },
470
+ "cab_2_right_group": {
471
+ "cls": "HingeCabinet"
472
+ },
473
+ "counter_2_right_group": {
474
+ "cls": "Counter"
475
+ },
476
+ "stack_2_right_group_base": {
477
+ "cls": "Box"
478
+ },
479
+ "stack_2_right_group_1": {
480
+ "cls": "Drawer"
481
+ },
482
+ "stack_2_right_group_2": {
483
+ "cls": "Drawer"
484
+ },
485
+ "stack_2_right_group_3": {
486
+ "cls": "Drawer"
487
+ },
488
+ "stack_2_right_group_4": {
489
+ "cls": "Drawer"
490
+ },
491
+ "stack_3_right_group_base": {
492
+ "cls": "Box"
493
+ },
494
+ "stack_3_right_group_1": {
495
+ "cls": "HingeCabinet"
496
+ },
497
+ "stack_3_right_group_2": {
498
+ "cls": "Drawer"
499
+ },
500
+ "stack_4_right_group_base": {
501
+ "cls": "Box"
502
+ },
503
+ "stack_4_right_group_1": {
504
+ "cls": "Drawer"
505
+ },
506
+ "stack_4_right_group_2": {
507
+ "cls": "Drawer"
508
+ },
509
+ "stack_4_right_group_3": {
510
+ "cls": "Drawer"
511
+ },
512
+ "stack_4_right_group_4": {
513
+ "cls": "Drawer"
514
+ },
515
+ "plant_right_group": {
516
+ "cls": "Accessory"
517
+ },
518
+ "island_island_group_1": {
519
+ "cls": "Counter"
520
+ },
521
+ "stack_1_island_group_1_base": {
522
+ "cls": "Box"
523
+ },
524
+ "stack_1_island_group_1_1": {
525
+ "cls": "SingleCabinet"
526
+ },
527
+ "stack_1_island_group_1_2": {
528
+ "cls": "Drawer"
529
+ },
530
+ "stack_2_island_group_1_base": {
531
+ "cls": "Box"
532
+ },
533
+ "stack_2_island_group_1_1": {
534
+ "cls": "SingleCabinet"
535
+ },
536
+ "stack_2_island_group_1_2": {
537
+ "cls": "Drawer"
538
+ },
539
+ "stack_3_island_group_1_base": {
540
+ "cls": "Box"
541
+ },
542
+ "stack_3_island_group_1_1": {
543
+ "cls": "SingleCabinet"
544
+ },
545
+ "stack_3_island_group_1_2": {
546
+ "cls": "Drawer"
547
+ },
548
+ "stack_4_island_group_1_base": {
549
+ "cls": "Box"
550
+ },
551
+ "stack_4_island_group_1_1": {
552
+ "cls": "SingleCabinet"
553
+ },
554
+ "stack_4_island_group_1_2": {
555
+ "cls": "Drawer"
556
+ },
557
+ "stack_1_island_group_2_base": {
558
+ "cls": "Box"
559
+ },
560
+ "stack_1_island_group_2_1": {
561
+ "cls": "SingleCabinet"
562
+ },
563
+ "stack_1_island_group_2_2": {
564
+ "cls": "Drawer"
565
+ },
566
+ "stack_2_island_group_2_base": {
567
+ "cls": "Box"
568
+ },
569
+ "stack_2_island_group_2_1": {
570
+ "cls": "SingleCabinet"
571
+ },
572
+ "stack_2_island_group_2_2": {
573
+ "cls": "Drawer"
574
+ },
575
+ "stack_3_island_group_2_base": {
576
+ "cls": "Box"
577
+ },
578
+ "stack_3_island_group_2_1": {
579
+ "cls": "SingleCabinet"
580
+ },
581
+ "stack_3_island_group_2_2": {
582
+ "cls": "Drawer"
583
+ },
584
+ "stack_4_island_group_2_base": {
585
+ "cls": "Box"
586
+ },
587
+ "stack_4_island_group_2_1": {
588
+ "cls": "SingleCabinet"
589
+ },
590
+ "stack_4_island_group_2_2": {
591
+ "cls": "Drawer"
592
+ }
593
+ },
594
+ "gen_textures": {},
595
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
596
+ "fixture_refs": {
597
+ "stool": "stool_2_room",
598
+ "dining_counter": "island_island_group_1",
599
+ "coffee_machine": "coffee_machine_main_group"
600
+ },
601
+ "cam_configs": {
602
+ "robot0_agentview_center": {
603
+ "pos": [
604
+ -0.6,
605
+ 0.0,
606
+ 1.15
607
+ ],
608
+ "quat": [
609
+ 0.636945903301239,
610
+ 0.3325185477733612,
611
+ -0.3199238181114197,
612
+ -0.6175596117973328
613
+ ],
614
+ "parent_body": "mobilebase0_support"
615
+ },
616
+ "robot0_agentview_left": {
617
+ "pos": [
618
+ -0.5,
619
+ 0.35,
620
+ 1.05
621
+ ],
622
+ "quat": [
623
+ 0.55623853,
624
+ 0.29935253,
625
+ -0.37678665,
626
+ -0.6775092
627
+ ],
628
+ "camera_attribs": {
629
+ "fovy": "60"
630
+ },
631
+ "parent_body": "mobilebase0_support"
632
+ },
633
+ "robot0_agentview_right": {
634
+ "pos": [
635
+ -0.5,
636
+ -0.35,
637
+ 1.05
638
+ ],
639
+ "quat": [
640
+ 0.6775091886520386,
641
+ 0.3767866790294647,
642
+ -0.2993525564670563,
643
+ -0.55623859167099
644
+ ],
645
+ "camera_attribs": {
646
+ "fovy": "60"
647
+ },
648
+ "parent_body": "mobilebase0_support"
649
+ },
650
+ "robot0_frontview": {
651
+ "pos": [
652
+ -0.5,
653
+ 0,
654
+ 0.95
655
+ ],
656
+ "quat": [
657
+ 0.6088936924934387,
658
+ 0.3814677894115448,
659
+ -0.3673907518386841,
660
+ -0.5905545353889465
661
+ ],
662
+ "camera_attribs": {
663
+ "fovy": "60"
664
+ },
665
+ "parent_body": "mobilebase0_support"
666
+ },
667
+ "robot0_eye_in_hand": {
668
+ "pos": [
669
+ 0.05,
670
+ 0,
671
+ 0
672
+ ],
673
+ "quat": [
674
+ 0,
675
+ 0.707107,
676
+ 0.707107,
677
+ 0
678
+ ],
679
+ "parent_body": "robot0_right_hand"
680
+ }
681
+ },
682
+ "init_robot_base_pos": [
683
+ 3.997471179540803,
684
+ -0.8029924080623069,
685
+ 0.0
686
+ ],
687
+ "init_robot_base_ori": [
688
+ 0.0,
689
+ 0.0,
690
+ 1.5707963267948966
691
+ ]
692
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000032/ep_meta.json ADDED
@@ -0,0 +1,530 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 46,
3
+ "style_id": 14,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.006044741941726339,
36
+ -0.07706408820828932,
37
+ -0.14306819168750048
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "dining_dining_area_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_5_room",
53
+ "min_size": [
54
+ 0.24709981284000002,
55
+ 0.24709756509000005,
56
+ 0.021416774287499996
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 2.750006,
87
+ 1.039938
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12354878254500003,
108
+ 0.12354878254500003
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "pancake",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "pancake",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes003/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12354878254500003,
144
+ 0.12354878254500003
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "cheese",
157
+ "dairy",
158
+ "food",
159
+ "in_container",
160
+ "food_set1"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "cheese",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_right_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_right_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_main_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_main_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_right_3_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_right_3_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_right_2_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_right_2_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_main_2_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_main_2_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "floor_1_room": {
204
+ "cls": "Floor"
205
+ },
206
+ "floor_1_backing_room": {
207
+ "cls": "Floor"
208
+ },
209
+ "floor_2_room": {
210
+ "cls": "Floor"
211
+ },
212
+ "floor_2_backing_room": {
213
+ "cls": "Floor"
214
+ },
215
+ "wallaccessory_06_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "lightswitch_01_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "wallaccessory_03_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "wallaccessory_04_room": {
225
+ "cls": "WallAccessory"
226
+ },
227
+ "stool_1_room": {
228
+ "cls": "Stool"
229
+ },
230
+ "stool_2_room": {
231
+ "cls": "Stool"
232
+ },
233
+ "stool_3_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "stool_4_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "stool_5_room": {
240
+ "cls": "Stool"
241
+ },
242
+ "stool_6_room": {
243
+ "cls": "Stool"
244
+ },
245
+ "dining_dining_area_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "cube_1_dining_area_group": {
249
+ "cls": "Box"
250
+ },
251
+ "cube_2_dining_area_group": {
252
+ "cls": "Box"
253
+ },
254
+ "fridgefrenchdoor_main_group_1": {
255
+ "cls": "FridgeFrenchDoor"
256
+ },
257
+ "fridgefrenchdoor_housing_main_group_1": {
258
+ "cls": "HousingCabinet"
259
+ },
260
+ "bottom_main_group_1_base": {
261
+ "cls": "Box"
262
+ },
263
+ "bottom_main_group_1_1": {
264
+ "cls": "Drawer"
265
+ },
266
+ "microwave_main_group_1": {
267
+ "cls": "Microwave"
268
+ },
269
+ "hingecabinet_02_main_group_1": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "oven_cabinet_main_group_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "microwave_housing_main_group_1": {
276
+ "cls": "HousingCabinet"
277
+ },
278
+ "top_main_group_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "hingecabinet_01_main_group_1": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "singlecabinet_1_main_group_1": {
285
+ "cls": "SingleCabinet"
286
+ },
287
+ "singlecabinet_2_main_group_1": {
288
+ "cls": "SingleCabinet"
289
+ },
290
+ "counter_2_main_group_1": {
291
+ "cls": "Counter"
292
+ },
293
+ "counter_1_main_group_1": {
294
+ "cls": "Counter"
295
+ },
296
+ "stove_main_group_1": {
297
+ "cls": "Stove"
298
+ },
299
+ "stove_hood_main_group_1": {
300
+ "cls": "Hood"
301
+ },
302
+ "stack_01_main_group_1_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_01_main_group_1_1": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_01_main_group_1_2": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_01_main_group_1_3": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_02_main_group_1_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_02_main_group_1_1": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_02_main_group_1_2": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_02_main_group_1_3": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_03_main_group_1_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_03_main_group_1_1": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "stack_03_main_group_1_2": {
333
+ "cls": "Drawer"
334
+ },
335
+ "coffee_machine_main_group_1": {
336
+ "cls": "CoffeeMachine"
337
+ },
338
+ "toaster_main_group_1": {
339
+ "cls": "Toaster"
340
+ },
341
+ "toaster_oven_main_group_1": {
342
+ "cls": "ToasterOven"
343
+ },
344
+ "sink_front_group_1": {
345
+ "cls": "Sink"
346
+ },
347
+ "counter_2_front_group_1": {
348
+ "cls": "Counter"
349
+ },
350
+ "stack_05_front_group_1_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_05_front_group_1_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "stack_05_front_group_1_2": {
357
+ "cls": "PanelCabinet"
358
+ },
359
+ "stack_08_front_group_1_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_08_front_group_1_1": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "stack_08_front_group_1_2": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_06_front_group_1_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_06_front_group_1_1": {
372
+ "cls": "SingleCabinet"
373
+ },
374
+ "stack_04_front_group_1_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_04_front_group_1_1": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "stack_04_front_group_1_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "dishwasher_1_front_group_1": {
384
+ "cls": "Dishwasher"
385
+ },
386
+ "stack_12_front_group_1_base": {
387
+ "cls": "Box"
388
+ },
389
+ "stack_12_front_group_1_1": {
390
+ "cls": "HingeCabinet"
391
+ },
392
+ "stack_12_front_group_1_2": {
393
+ "cls": "Drawer"
394
+ },
395
+ "plant_front_group_1": {
396
+ "cls": "Accessory"
397
+ },
398
+ "paper_towel_front_group_1": {
399
+ "cls": "Accessory"
400
+ },
401
+ "cube_1_front_group_2": {
402
+ "cls": "Box"
403
+ },
404
+ "stack_11_front_group_2_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_11_front_group_2_1": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "stack_10_front_group_2_base": {
411
+ "cls": "Box"
412
+ },
413
+ "stack_10_front_group_2_1": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "stack_09_front_group_2_base": {
417
+ "cls": "Box"
418
+ },
419
+ "stack_09_front_group_2_1": {
420
+ "cls": "HingeCabinet"
421
+ },
422
+ "cube_2_front_group_2": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_13_front_group_2_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_13_front_group_2_1": {
429
+ "cls": "SingleCabinet"
430
+ }
431
+ },
432
+ "gen_textures": {},
433
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
434
+ "fixture_refs": {
435
+ "stool": "stool_5_room",
436
+ "dining_counter": "dining_dining_area_group",
437
+ "coffee_machine": "coffee_machine_main_group_1"
438
+ },
439
+ "cam_configs": {
440
+ "robot0_agentview_center": {
441
+ "pos": [
442
+ -0.6,
443
+ 0.0,
444
+ 1.15
445
+ ],
446
+ "quat": [
447
+ 0.636945903301239,
448
+ 0.3325185477733612,
449
+ -0.3199238181114197,
450
+ -0.6175596117973328
451
+ ],
452
+ "parent_body": "mobilebase0_support"
453
+ },
454
+ "robot0_agentview_left": {
455
+ "pos": [
456
+ -0.5,
457
+ 0.35,
458
+ 1.05
459
+ ],
460
+ "quat": [
461
+ 0.55623853,
462
+ 0.29935253,
463
+ -0.37678665,
464
+ -0.6775092
465
+ ],
466
+ "camera_attribs": {
467
+ "fovy": "60"
468
+ },
469
+ "parent_body": "mobilebase0_support"
470
+ },
471
+ "robot0_agentview_right": {
472
+ "pos": [
473
+ -0.5,
474
+ -0.35,
475
+ 1.05
476
+ ],
477
+ "quat": [
478
+ 0.6775091886520386,
479
+ 0.3767866790294647,
480
+ -0.2993525564670563,
481
+ -0.55623859167099
482
+ ],
483
+ "camera_attribs": {
484
+ "fovy": "60"
485
+ },
486
+ "parent_body": "mobilebase0_support"
487
+ },
488
+ "robot0_frontview": {
489
+ "pos": [
490
+ -0.5,
491
+ 0,
492
+ 0.95
493
+ ],
494
+ "quat": [
495
+ 0.6088936924934387,
496
+ 0.3814677894115448,
497
+ -0.3673907518386841,
498
+ -0.5905545353889465
499
+ ],
500
+ "camera_attribs": {
501
+ "fovy": "60"
502
+ },
503
+ "parent_body": "mobilebase0_support"
504
+ },
505
+ "robot0_eye_in_hand": {
506
+ "pos": [
507
+ 0.05,
508
+ 0,
509
+ 0
510
+ ],
511
+ "quat": [
512
+ 0,
513
+ 0.707107,
514
+ 0.707107,
515
+ 0
516
+ ],
517
+ "parent_body": "robot0_right_hand"
518
+ }
519
+ },
520
+ "init_robot_base_pos": [
521
+ 5.359642573807138,
522
+ -0.9654976549340339,
523
+ 0.0
524
+ ],
525
+ "init_robot_base_ori": [
526
+ 0.0,
527
+ 0.0,
528
+ 1.5706378976484208
529
+ ]
530
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000033/ep_meta.json ADDED
@@ -0,0 +1,565 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 35,
3
+ "style_id": 37,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffeemachine_left_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_10/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.0010172510651319953,
36
+ -0.18274904185204527,
37
+ -0.14333263756559597
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "counter_2_right_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_stool_group_1",
53
+ "min_size": [
54
+ 0.244743326685,
55
+ 0.24474403597500002,
56
+ 0.023217144615000004
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.084813848768997,
87
+ 0.65
88
+ ],
89
+ "offset": [
90
+ 0.6041430756155015,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1223716633425,
108
+ 0.1223716633425
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1223716633425,
144
+ 0.1223716633425
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "kiwi",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "kiwi",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_2_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_2_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_main_3_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_main_3_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "floor_1_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_1_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "wallaccessory_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wallaccessory.002_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wallaccessory.003_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "stool_3_room": {
224
+ "cls": "Stool"
225
+ },
226
+ "stool_2_room": {
227
+ "cls": "Stool"
228
+ },
229
+ "stool_1_room": {
230
+ "cls": "Stool"
231
+ },
232
+ "counter_1_main_group_1": {
233
+ "cls": "Counter"
234
+ },
235
+ "counter_corner_1_main_group_1": {
236
+ "cls": "Counter"
237
+ },
238
+ "hingecabinet_1_main_group_1": {
239
+ "cls": "HingeCabinet"
240
+ },
241
+ "box_1_main_group_1": {
242
+ "cls": "Box"
243
+ },
244
+ "hingecabinet_2_main_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "stack_1_main_group_1_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_1_main_group_1_1": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_1_main_group_1_2": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_1_main_group_1_3": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_2_main_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_2_main_group_1_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "fridgefrenchdoor_main_group_1": {
266
+ "cls": "FridgeFrenchDoor"
267
+ },
268
+ "fridgefrenchdoor_housing_main_group_1": {
269
+ "cls": "HousingCabinet"
270
+ },
271
+ "knifeblock_main_group_1": {
272
+ "cls": "Accessory"
273
+ },
274
+ "paper_towel_main_group_1": {
275
+ "cls": "Accessory"
276
+ },
277
+ "toaster_main_group_1": {
278
+ "cls": "Toaster"
279
+ },
280
+ "sink_right_group_1": {
281
+ "cls": "Sink"
282
+ },
283
+ "counter_1_right_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "counter_2_right_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "singlecabinet_1_right_group_1": {
290
+ "cls": "SingleCabinet"
291
+ },
292
+ "cube_2_right_group_1": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_3_right_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_3_right_group_1_1": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_3_right_group_1_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_3_right_group_1_3": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_1_right_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_1_right_group_1_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "cube_1_right_group_1": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_2_right_group_1_base": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_2_right_group_1_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "stack_2_right_group_1_2": {
323
+ "cls": "PanelCabinet"
324
+ },
325
+ "dishwasher_1_right_group_1": {
326
+ "cls": "Dishwasher"
327
+ },
328
+ "cube_3_right_group_1": {
329
+ "cls": "Box"
330
+ },
331
+ "stovetop_left_group_1": {
332
+ "cls": "Stovetop"
333
+ },
334
+ "counter_1_left_group_1": {
335
+ "cls": "Counter"
336
+ },
337
+ "hingecabinet_3_left_group_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "hingecabinet_2_left_group_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "hingecabinet_1_left_group_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "bottom_left_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "bottom_left_group_1_1": {
350
+ "cls": "Drawer"
351
+ },
352
+ "oven_left_group_1": {
353
+ "cls": "Oven"
354
+ },
355
+ "oven_housing_left_group_1": {
356
+ "cls": "HousingCabinet"
357
+ },
358
+ "microwave_left_group_1": {
359
+ "cls": "Microwave"
360
+ },
361
+ "microwave_housing_left_group_1": {
362
+ "cls": "HousingCabinet"
363
+ },
364
+ "top_left_group_1": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "stack_1_left_group_1_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_1_left_group_1_1": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "stack_1_left_group_1_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_2_left_group_1_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_2_left_group_1_1": {
380
+ "cls": "HingeCabinet"
381
+ },
382
+ "stack_2_left_group_1_2": {
383
+ "cls": "PanelCabinet"
384
+ },
385
+ "stack_3_left_group_1_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_3_left_group_1_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "stack_3_left_group_1_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "coffeemachine_left_group_1": {
395
+ "cls": "CoffeeMachine"
396
+ },
397
+ "toaster_oven_left_group_1": {
398
+ "cls": "ToasterOven"
399
+ },
400
+ "counter_1_island_group": {
401
+ "cls": "Counter"
402
+ },
403
+ "stack_2_island_group_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_2_island_group_1": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_2_island_group_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_1_island_group_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_1_island_group_1": {
416
+ "cls": "SingleCabinet"
417
+ },
418
+ "stack_3_island_group_base": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_3_island_group_1": {
422
+ "cls": "SingleCabinet"
423
+ },
424
+ "plant_island_group": {
425
+ "cls": "Accessory"
426
+ },
427
+ "stack_2_dining_area_group_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_2_dining_area_group_1": {
431
+ "cls": "HingeCabinet"
432
+ },
433
+ "stack_2_dining_area_group_2": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_4_dining_area_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_4_dining_area_group_1": {
440
+ "cls": "SingleCabinet"
441
+ },
442
+ "stack_1_dining_area_group_base": {
443
+ "cls": "Box"
444
+ },
445
+ "stack_1_dining_area_group_1": {
446
+ "cls": "SingleCabinet"
447
+ },
448
+ "stack_3_dining_area_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_3_dining_area_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_3_dining_area_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stool_3_stool_group_1": {
458
+ "cls": "Stool"
459
+ },
460
+ "stool_2_stool_group_1": {
461
+ "cls": "Stool"
462
+ },
463
+ "stool_1_stool_group_1": {
464
+ "cls": "Stool"
465
+ }
466
+ },
467
+ "gen_textures": {},
468
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
469
+ "fixture_refs": {
470
+ "stool": "stool_1_stool_group_1",
471
+ "dining_counter": "counter_2_right_group_1",
472
+ "coffee_machine": "coffeemachine_left_group_1"
473
+ },
474
+ "cam_configs": {
475
+ "robot0_agentview_center": {
476
+ "pos": [
477
+ -0.6,
478
+ 0.0,
479
+ 1.15
480
+ ],
481
+ "quat": [
482
+ 0.636945903301239,
483
+ 0.3325185477733612,
484
+ -0.3199238181114197,
485
+ -0.6175596117973328
486
+ ],
487
+ "parent_body": "mobilebase0_support"
488
+ },
489
+ "robot0_agentview_left": {
490
+ "pos": [
491
+ -0.5,
492
+ 0.35,
493
+ 1.05
494
+ ],
495
+ "quat": [
496
+ 0.55623853,
497
+ 0.29935253,
498
+ -0.37678665,
499
+ -0.6775092
500
+ ],
501
+ "camera_attribs": {
502
+ "fovy": "60"
503
+ },
504
+ "parent_body": "mobilebase0_support"
505
+ },
506
+ "robot0_agentview_right": {
507
+ "pos": [
508
+ -0.5,
509
+ -0.35,
510
+ 1.05
511
+ ],
512
+ "quat": [
513
+ 0.6775091886520386,
514
+ 0.3767866790294647,
515
+ -0.2993525564670563,
516
+ -0.55623859167099
517
+ ],
518
+ "camera_attribs": {
519
+ "fovy": "60"
520
+ },
521
+ "parent_body": "mobilebase0_support"
522
+ },
523
+ "robot0_frontview": {
524
+ "pos": [
525
+ -0.5,
526
+ 0,
527
+ 0.95
528
+ ],
529
+ "quat": [
530
+ 0.6088936924934387,
531
+ 0.3814677894115448,
532
+ -0.3673907518386841,
533
+ -0.5905545353889465
534
+ ],
535
+ "camera_attribs": {
536
+ "fovy": "60"
537
+ },
538
+ "parent_body": "mobilebase0_support"
539
+ },
540
+ "robot0_eye_in_hand": {
541
+ "pos": [
542
+ 0.05,
543
+ 0,
544
+ 0
545
+ ],
546
+ "quat": [
547
+ 0,
548
+ 0.707107,
549
+ 0.707107,
550
+ 0
551
+ ],
552
+ "parent_body": "robot0_right_hand"
553
+ }
554
+ },
555
+ "init_robot_base_pos": [
556
+ 0.8293952471021556,
557
+ -0.5445648242281345,
558
+ 0.0
559
+ ],
560
+ "init_robot_base_ori": [
561
+ 0.0,
562
+ 0.0,
563
+ 3.1415924507432367
564
+ ]
565
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000034/ep_meta.json ADDED
@@ -0,0 +1,467 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 44,
3
+ "style_id": 18,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.060218433960421196,
36
+ -0.06426803105156803,
37
+ -0.12190559580517032
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.24705742527000002,
55
+ 0.24545688741000002,
56
+ 0.02023132842
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.3479529166560051,
87
+ 0.890935
88
+ ],
89
+ "offset": [
90
+ -0.0545000416719974,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12272844370500001,
108
+ 0.12272844370500001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "baguette",
121
+ "bread_food",
122
+ "food",
123
+ "in_container",
124
+ "food_set1"
125
+ ],
126
+ "groups": [
127
+ "bread_food",
128
+ "pancake",
129
+ "waffle"
130
+ ],
131
+ "cat": "baguette",
132
+ "split": "train",
133
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_2/model.xml"
134
+ }
135
+ },
136
+ {
137
+ "name": "breakfast_item2",
138
+ "obj_groups": [
139
+ "fruit",
140
+ "cheese"
141
+ ],
142
+ "placement": {
143
+ "size": [
144
+ 0.12272844370500001,
145
+ 0.12272844370500001
146
+ ],
147
+ "ensure_object_boundary_in_range": false,
148
+ "sample_args": {
149
+ "reference": "breakfast_plate",
150
+ "on_top": true
151
+ }
152
+ },
153
+ "type": "object",
154
+ "info": {
155
+ "groups_containing_sampled_obj": [
156
+ "all",
157
+ "mango",
158
+ "fruit",
159
+ "food",
160
+ "in_container"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "mango",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_18/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_main_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_main_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_right_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_right_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_left_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_left_1_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_main_2_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_main_2_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_right_2_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_right_2_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_right_3_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_right_3_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "floor_1_room": {
210
+ "cls": "Floor"
211
+ },
212
+ "floor_1_backing_room": {
213
+ "cls": "Floor"
214
+ },
215
+ "floor_2_room": {
216
+ "cls": "Floor"
217
+ },
218
+ "floor_2_backing_room": {
219
+ "cls": "Floor"
220
+ },
221
+ "wallaccessory.001_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "wallaccessory.005_room": {
225
+ "cls": "WallAccessory"
226
+ },
227
+ "wallaccessory_room": {
228
+ "cls": "WallAccessory"
229
+ },
230
+ "wallaccessory.003_room": {
231
+ "cls": "WallAccessory"
232
+ },
233
+ "wallaccessory.004_room": {
234
+ "cls": "WallAccessory"
235
+ },
236
+ "wallaccessory.002_room": {
237
+ "cls": "WallAccessory"
238
+ },
239
+ "window_group_1_room": {
240
+ "cls": "Window"
241
+ },
242
+ "window_group_2_room": {
243
+ "cls": "Window"
244
+ },
245
+ "stool_1_room": {
246
+ "cls": "Stool"
247
+ },
248
+ "stool_2_room": {
249
+ "cls": "Stool"
250
+ },
251
+ "stool_3_room": {
252
+ "cls": "Stool"
253
+ },
254
+ "counter_corner_1_main_group_1": {
255
+ "cls": "Counter"
256
+ },
257
+ "sink_main_group_1": {
258
+ "cls": "Sink"
259
+ },
260
+ "counter_1_main_group_1": {
261
+ "cls": "Counter"
262
+ },
263
+ "singlecabinet_1_main_group_1": {
264
+ "cls": "SingleCabinet"
265
+ },
266
+ "cube_main_group_1": {
267
+ "cls": "Box"
268
+ },
269
+ "singlecabinet_2_main_group_1": {
270
+ "cls": "SingleCabinet"
271
+ },
272
+ "hingecabinet_1_main_group_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "stack_1_main_group_1_base": {
276
+ "cls": "Box"
277
+ },
278
+ "stack_1_main_group_1_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "cube_1_main_group_1": {
282
+ "cls": "Box"
283
+ },
284
+ "dishwasher_1_main_group_1": {
285
+ "cls": "Dishwasher"
286
+ },
287
+ "fridgesidebyside_main_group_1": {
288
+ "cls": "FridgeSideBySide"
289
+ },
290
+ "fridgesidebyside_housing_main_group_1": {
291
+ "cls": "HousingCabinet"
292
+ },
293
+ "toaster_main_group_1": {
294
+ "cls": "Toaster"
295
+ },
296
+ "papertowel_main_group_1": {
297
+ "cls": "Accessory"
298
+ },
299
+ "counter_1_left_group_1": {
300
+ "cls": "Counter"
301
+ },
302
+ "stove_left_group_1": {
303
+ "cls": "Stove"
304
+ },
305
+ "microwave_left_group_1": {
306
+ "cls": "Microwave"
307
+ },
308
+ "micro_cab_left_group_1": {
309
+ "cls": "HingeCabinet"
310
+ },
311
+ "counter_2_left_group_1": {
312
+ "cls": "Counter"
313
+ },
314
+ "singlecabinet_1_left_group_1": {
315
+ "cls": "SingleCabinet"
316
+ },
317
+ "hingecabinet_1_left_group_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "cube_3_left_group_1": {
321
+ "cls": "Box"
322
+ },
323
+ "cube_4_left_group_1": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_1_left_group_1_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_1_left_group_1_1": {
330
+ "cls": "SingleCabinet"
331
+ },
332
+ "stack_1_left_group_1_2": {
333
+ "cls": "Drawer"
334
+ },
335
+ "stack_2_left_group_1_base": {
336
+ "cls": "Box"
337
+ },
338
+ "stack_2_left_group_1_1": {
339
+ "cls": "SingleCabinet"
340
+ },
341
+ "stack_2_left_group_1_2": {
342
+ "cls": "Drawer"
343
+ },
344
+ "cube_1_left_group_1": {
345
+ "cls": "Box"
346
+ },
347
+ "cube_2_left_group_1": {
348
+ "cls": "Box"
349
+ },
350
+ "coffee_machine_left_group_1": {
351
+ "cls": "CoffeeMachine"
352
+ },
353
+ "island_island_group_1": {
354
+ "cls": "Counter"
355
+ },
356
+ "cube_island_group_1": {
357
+ "cls": "Box"
358
+ },
359
+ "cube_2_island_group_1": {
360
+ "cls": "Box"
361
+ },
362
+ "cube_3_island_group_1": {
363
+ "cls": "Box"
364
+ },
365
+ "cube_4_island_group_1": {
366
+ "cls": "Box"
367
+ }
368
+ },
369
+ "gen_textures": {},
370
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
371
+ "fixture_refs": {
372
+ "stool": "stool_2_room",
373
+ "dining_counter": "island_island_group_1",
374
+ "coffee_machine": "coffee_machine_left_group_1"
375
+ },
376
+ "cam_configs": {
377
+ "robot0_agentview_center": {
378
+ "pos": [
379
+ -0.6,
380
+ 0.0,
381
+ 1.15
382
+ ],
383
+ "quat": [
384
+ 0.636945903301239,
385
+ 0.3325185477733612,
386
+ -0.3199238181114197,
387
+ -0.6175596117973328
388
+ ],
389
+ "parent_body": "mobilebase0_support"
390
+ },
391
+ "robot0_agentview_left": {
392
+ "pos": [
393
+ -0.5,
394
+ 0.35,
395
+ 1.05
396
+ ],
397
+ "quat": [
398
+ 0.55623853,
399
+ 0.29935253,
400
+ -0.37678665,
401
+ -0.6775092
402
+ ],
403
+ "camera_attribs": {
404
+ "fovy": "60"
405
+ },
406
+ "parent_body": "mobilebase0_support"
407
+ },
408
+ "robot0_agentview_right": {
409
+ "pos": [
410
+ -0.5,
411
+ -0.35,
412
+ 1.05
413
+ ],
414
+ "quat": [
415
+ 0.6775091886520386,
416
+ 0.3767866790294647,
417
+ -0.2993525564670563,
418
+ -0.55623859167099
419
+ ],
420
+ "camera_attribs": {
421
+ "fovy": "60"
422
+ },
423
+ "parent_body": "mobilebase0_support"
424
+ },
425
+ "robot0_frontview": {
426
+ "pos": [
427
+ -0.5,
428
+ 0,
429
+ 0.95
430
+ ],
431
+ "quat": [
432
+ 0.6088936924934387,
433
+ 0.3814677894115448,
434
+ -0.3673907518386841,
435
+ -0.5905545353889465
436
+ ],
437
+ "camera_attribs": {
438
+ "fovy": "60"
439
+ },
440
+ "parent_body": "mobilebase0_support"
441
+ },
442
+ "robot0_eye_in_hand": {
443
+ "pos": [
444
+ 0.05,
445
+ 0,
446
+ 0
447
+ ],
448
+ "quat": [
449
+ 0,
450
+ 0.707107,
451
+ 0.707107,
452
+ 0
453
+ ],
454
+ "parent_body": "robot0_right_hand"
455
+ }
456
+ },
457
+ "init_robot_base_pos": [
458
+ 2.489305563268437,
459
+ -2.322282352424911,
460
+ 0.0
461
+ ],
462
+ "init_robot_base_ori": [
463
+ 0.0,
464
+ 0.0,
465
+ 3.1412906566438026
466
+ ]
467
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000035/ep_meta.json ADDED
@@ -0,0 +1,514 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 53,
3
+ "style_id": 49,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_front_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.03624425440292678,
36
+ -0.23125414287951745,
37
+ -0.09300895963032214
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "dining_dining_area_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.23125013257500002,
55
+ 0.23125020817500003,
56
+ 0.018714614625
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.9286180409651053,
87
+ 1.259164
88
+ ],
89
+ "offset": [
90
+ 0.2741629795174474,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11562506628750001,
108
+ 0.11562506628750001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11562506628750001,
144
+ 0.11562506628750001
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "tangerine",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "tangerine",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_main_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_front_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_front_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_front_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_front_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_front_4_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_front_4_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_front_3_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_front_3_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "floor_1_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_1_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "floor_2_room": {
215
+ "cls": "Floor"
216
+ },
217
+ "floor_2_backing_room": {
218
+ "cls": "Floor"
219
+ },
220
+ "wallaccessory_1_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wallaccessory_2_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "wallaccessory_3_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "wallaccessory_4_room": {
230
+ "cls": "WallAccessory"
231
+ },
232
+ "wallaccessory_5_room": {
233
+ "cls": "WallAccessory"
234
+ },
235
+ "window_group_1_room": {
236
+ "cls": "Window"
237
+ },
238
+ "window_group_2_room": {
239
+ "cls": "Window"
240
+ },
241
+ "stool_2_room": {
242
+ "cls": "Stool"
243
+ },
244
+ "stool_3_room": {
245
+ "cls": "Stool"
246
+ },
247
+ "stool_1_room": {
248
+ "cls": "Stool"
249
+ },
250
+ "hingecabinet_3_main_group_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "singlecabinet_1_main_group_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "sink_main_group_1": {
257
+ "cls": "Sink"
258
+ },
259
+ "counter_1_main_group_1": {
260
+ "cls": "Counter"
261
+ },
262
+ "counter_2_main_group_1": {
263
+ "cls": "Counter"
264
+ },
265
+ "cube_2_main_group_1": {
266
+ "cls": "Box"
267
+ },
268
+ "cube_3_main_group_1": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_1_main_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_1_main_group_1_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "stack_1_main_group_1_2": {
278
+ "cls": "PanelCabinet"
279
+ },
280
+ "stack_2_main_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_2_main_group_1_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "dishwasher_1_main_group_1": {
287
+ "cls": "Dishwasher"
288
+ },
289
+ "paper_towel_main_group_1": {
290
+ "cls": "Accessory"
291
+ },
292
+ "dining_dining_area_group_1": {
293
+ "cls": "Counter"
294
+ },
295
+ "stack_3_dining_area_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_3_dining_area_group_1_1": {
299
+ "cls": "SingleCabinet"
300
+ },
301
+ "stack_4_dining_area_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_4_dining_area_group_1_1": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_4_dining_area_group_1_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "stack_4_dining_area_group_1_3": {
311
+ "cls": "Drawer"
312
+ },
313
+ "stack_5_dining_area_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_5_dining_area_group_1_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "stack_5_dining_area_group_1_2": {
320
+ "cls": "Drawer"
321
+ },
322
+ "cube_6_dining_area_group_1": {
323
+ "cls": "Box"
324
+ },
325
+ "cube_1_dining_area_group_1": {
326
+ "cls": "Box"
327
+ },
328
+ "cube_4_right_group_1": {
329
+ "cls": "Box"
330
+ },
331
+ "hingecabinet_1_right_group_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "singlecabinet_2_right_group_1": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "singlecabinet_3_right_group_1": {
338
+ "cls": "SingleCabinet"
339
+ },
340
+ "counter_4_right_group_1": {
341
+ "cls": "Counter"
342
+ },
343
+ "counter_5_right_group_1": {
344
+ "cls": "Counter"
345
+ },
346
+ "counter_corner_1_right_group_1": {
347
+ "cls": "Counter"
348
+ },
349
+ "stove_right_group_1": {
350
+ "cls": "Stove"
351
+ },
352
+ "microwave_right_group_1": {
353
+ "cls": "Microwave"
354
+ },
355
+ "micro_cab_right_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "stack_6_right_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_6_right_group_1_1": {
362
+ "cls": "SingleCabinet"
363
+ },
364
+ "stack_6_right_group_1_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_7_right_group_1_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_7_right_group_1_1": {
371
+ "cls": "SingleCabinet"
372
+ },
373
+ "stack_7_right_group_1_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_8_right_group_1_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_8_right_group_1_1": {
380
+ "cls": "SingleCabinet"
381
+ },
382
+ "toaster_oven_right_group_1": {
383
+ "cls": "ToasterOven"
384
+ },
385
+ "toaster_right_group_1": {
386
+ "cls": "Toaster"
387
+ },
388
+ "hingecabinet_4_front_group_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "counter_3_front_group_1": {
392
+ "cls": "Counter"
393
+ },
394
+ "stack_9_front_group_1_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_9_front_group_1_1": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "cube_1_front_group_1": {
401
+ "cls": "Box"
402
+ },
403
+ "fridgefrenchdoor_front_group_1": {
404
+ "cls": "FridgeFrenchDoor"
405
+ },
406
+ "fridgefrenchdoor_housing_front_group_1": {
407
+ "cls": "HousingCabinet"
408
+ },
409
+ "hingecabinet_2_front_group_1": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "coffee_machine_front_group_1": {
413
+ "cls": "CoffeeMachine"
414
+ }
415
+ },
416
+ "gen_textures": {},
417
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
418
+ "fixture_refs": {
419
+ "stool": "stool_2_room",
420
+ "dining_counter": "dining_dining_area_group_1",
421
+ "coffee_machine": "coffee_machine_front_group_1"
422
+ },
423
+ "cam_configs": {
424
+ "robot0_agentview_center": {
425
+ "pos": [
426
+ -0.6,
427
+ 0.0,
428
+ 1.15
429
+ ],
430
+ "quat": [
431
+ 0.636945903301239,
432
+ 0.3325185477733612,
433
+ -0.3199238181114197,
434
+ -0.6175596117973328
435
+ ],
436
+ "parent_body": "mobilebase0_support"
437
+ },
438
+ "robot0_agentview_left": {
439
+ "pos": [
440
+ -0.5,
441
+ 0.35,
442
+ 1.05
443
+ ],
444
+ "quat": [
445
+ 0.55623853,
446
+ 0.29935253,
447
+ -0.37678665,
448
+ -0.6775092
449
+ ],
450
+ "camera_attribs": {
451
+ "fovy": "60"
452
+ },
453
+ "parent_body": "mobilebase0_support"
454
+ },
455
+ "robot0_agentview_right": {
456
+ "pos": [
457
+ -0.5,
458
+ -0.35,
459
+ 1.05
460
+ ],
461
+ "quat": [
462
+ 0.6775091886520386,
463
+ 0.3767866790294647,
464
+ -0.2993525564670563,
465
+ -0.55623859167099
466
+ ],
467
+ "camera_attribs": {
468
+ "fovy": "60"
469
+ },
470
+ "parent_body": "mobilebase0_support"
471
+ },
472
+ "robot0_frontview": {
473
+ "pos": [
474
+ -0.5,
475
+ 0,
476
+ 0.95
477
+ ],
478
+ "quat": [
479
+ 0.6088936924934387,
480
+ 0.3814677894115448,
481
+ -0.3673907518386841,
482
+ -0.5905545353889465
483
+ ],
484
+ "camera_attribs": {
485
+ "fovy": "60"
486
+ },
487
+ "parent_body": "mobilebase0_support"
488
+ },
489
+ "robot0_eye_in_hand": {
490
+ "pos": [
491
+ 0.05,
492
+ 0,
493
+ 0
494
+ ],
495
+ "quat": [
496
+ 0,
497
+ 0.707107,
498
+ 0.707107,
499
+ 0
500
+ ],
501
+ "parent_body": "robot0_right_hand"
502
+ }
503
+ },
504
+ "init_robot_base_pos": [
505
+ 4.8030895592161595,
506
+ -4.865854868405786,
507
+ 0.0
508
+ ],
509
+ "init_robot_base_ori": [
510
+ 0.0,
511
+ 0.0,
512
+ 4.712234187123444
513
+ ]
514
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000036/ep_meta.json ADDED
@@ -0,0 +1,486 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 14,
3
+ "style_id": 35,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_10/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.060039398381759396,
36
+ -0.14262033798683926,
37
+ -0.16082293939771997
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.245914494345,
55
+ 0.24590248636500003,
56
+ 0.033029782155
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.7,
87
+ 0.542
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.5225
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12295124318250002,
108
+ 0.12295124318250002
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "baguette",
121
+ "bread_food",
122
+ "food",
123
+ "in_container",
124
+ "food_set1"
125
+ ],
126
+ "groups": [
127
+ "bread_food",
128
+ "pancake",
129
+ "waffle"
130
+ ],
131
+ "cat": "baguette",
132
+ "split": "train",
133
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_2/model.xml"
134
+ }
135
+ },
136
+ {
137
+ "name": "breakfast_item2",
138
+ "obj_groups": [
139
+ "fruit",
140
+ "cheese"
141
+ ],
142
+ "placement": {
143
+ "size": [
144
+ 0.12295124318250002,
145
+ 0.12295124318250002
146
+ ],
147
+ "ensure_object_boundary_in_range": false,
148
+ "sample_args": {
149
+ "reference": "breakfast_plate",
150
+ "on_top": true
151
+ }
152
+ },
153
+ "type": "object",
154
+ "info": {
155
+ "groups_containing_sampled_obj": [
156
+ "all",
157
+ "cheese",
158
+ "dairy",
159
+ "food",
160
+ "in_container",
161
+ "food_set1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "cheese",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_1/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_left_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_left_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "window_group_room": {
193
+ "cls": "Window"
194
+ },
195
+ "floor_1_room": {
196
+ "cls": "Floor"
197
+ },
198
+ "floor_1_backing_room": {
199
+ "cls": "Floor"
200
+ },
201
+ "wall_accessory_1_room": {
202
+ "cls": "WallAccessory"
203
+ },
204
+ "wall_accessory_2_room": {
205
+ "cls": "WallAccessory"
206
+ },
207
+ "wall_accessory_3_room": {
208
+ "cls": "WallAccessory"
209
+ },
210
+ "light_switch_room": {
211
+ "cls": "WallAccessory"
212
+ },
213
+ "wall_accessory_4_room": {
214
+ "cls": "WallAccessory"
215
+ },
216
+ "stool_1_room": {
217
+ "cls": "Stool"
218
+ },
219
+ "stool_2_room": {
220
+ "cls": "Stool"
221
+ },
222
+ "stool_3_room": {
223
+ "cls": "Stool"
224
+ },
225
+ "counter_1_main_group_1": {
226
+ "cls": "Counter"
227
+ },
228
+ "stove_main_group_1": {
229
+ "cls": "Stove"
230
+ },
231
+ "counter_2_main_group_1": {
232
+ "cls": "Counter"
233
+ },
234
+ "stack_1_main_group_1_base": {
235
+ "cls": "Box"
236
+ },
237
+ "stack_1_main_group_1_1": {
238
+ "cls": "HingeCabinet"
239
+ },
240
+ "stack_1_main_group_1_2": {
241
+ "cls": "Drawer"
242
+ },
243
+ "stack_1_main_group_1_3": {
244
+ "cls": "Drawer"
245
+ },
246
+ "stack_2_main_group_1_base": {
247
+ "cls": "Box"
248
+ },
249
+ "stack_2_main_group_1_1": {
250
+ "cls": "SingleCabinet"
251
+ },
252
+ "stack_2_main_group_1_2": {
253
+ "cls": "Drawer"
254
+ },
255
+ "stack_3_main_group_1_base": {
256
+ "cls": "Box"
257
+ },
258
+ "stack_3_main_group_1_1": {
259
+ "cls": "SingleCabinet"
260
+ },
261
+ "box_1_main_group_1": {
262
+ "cls": "Box"
263
+ },
264
+ "stack_4_main_group_1_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_4_main_group_1_1": {
268
+ "cls": "HingeCabinet"
269
+ },
270
+ "stack_4_main_group_1_2": {
271
+ "cls": "Drawer"
272
+ },
273
+ "stack_4_main_group_1_3": {
274
+ "cls": "Drawer"
275
+ },
276
+ "cab_1_main_group_1": {
277
+ "cls": "HingeCabinet"
278
+ },
279
+ "microwave_main_group_1": {
280
+ "cls": "Microwave"
281
+ },
282
+ "micro_cab_main_group_1": {
283
+ "cls": "HingeCabinet"
284
+ },
285
+ "toaster_main_group_1": {
286
+ "cls": "Toaster"
287
+ },
288
+ "coffee_machine_main_group_1": {
289
+ "cls": "CoffeeMachine"
290
+ },
291
+ "paper_towel_main_group_1": {
292
+ "cls": "Accessory"
293
+ },
294
+ "counter_1_left_group_1": {
295
+ "cls": "Counter"
296
+ },
297
+ "counter_corner_left_group_1": {
298
+ "cls": "Counter"
299
+ },
300
+ "fridge_left_group_1": {
301
+ "cls": "FridgeBottomFreezer"
302
+ },
303
+ "fridge_housing_left_group_1": {
304
+ "cls": "HousingCabinet"
305
+ },
306
+ "hingecabinet_1.002_left_group_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "stack_1_left_group_1_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_1_left_group_1_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "stack_1_left_group_1_2": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_2_left_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_2_left_group_1_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "stack_2_left_group_1_2": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_3_left_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_3_left_group_1_1": {
331
+ "cls": "SingleCabinet"
332
+ },
333
+ "box_1_left_group_1": {
334
+ "cls": "Box"
335
+ },
336
+ "cab_1_left_group_1": {
337
+ "cls": "SingleCabinet"
338
+ },
339
+ "cab_2_left_group_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "cab_3_left_group_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "toaster_oven_left_group_1": {
346
+ "cls": "ToasterOven"
347
+ },
348
+ "knife_block_left_group_1": {
349
+ "cls": "Accessory"
350
+ },
351
+ "sink_1_island_group_1": {
352
+ "cls": "Sink"
353
+ },
354
+ "counter_1_island_group_1": {
355
+ "cls": "Counter"
356
+ },
357
+ "island_island_group_1": {
358
+ "cls": "Counter"
359
+ },
360
+ "box_island_group_1": {
361
+ "cls": "Box"
362
+ },
363
+ "panel_stack_1_island_group_1_base": {
364
+ "cls": "Box"
365
+ },
366
+ "panel_stack_1_island_group_1_1": {
367
+ "cls": "PanelCabinet"
368
+ },
369
+ "stack_1_island_group_1_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_1_island_group_1_1": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "stack_1_island_group_1_2": {
376
+ "cls": "PanelCabinet"
377
+ },
378
+ "dishwasher_island_group_1": {
379
+ "cls": "Dishwasher"
380
+ },
381
+ "panel_stack_2_island_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "panel_stack_2_island_group_1_1": {
385
+ "cls": "PanelCabinet"
386
+ }
387
+ },
388
+ "gen_textures": {},
389
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
390
+ "fixture_refs": {
391
+ "stool": "stool_1_room",
392
+ "dining_counter": "island_island_group_1",
393
+ "coffee_machine": "coffee_machine_main_group_1"
394
+ },
395
+ "cam_configs": {
396
+ "robot0_agentview_center": {
397
+ "pos": [
398
+ -0.6,
399
+ 0.0,
400
+ 1.15
401
+ ],
402
+ "quat": [
403
+ 0.636945903301239,
404
+ 0.3325185477733612,
405
+ -0.3199238181114197,
406
+ -0.6175596117973328
407
+ ],
408
+ "parent_body": "mobilebase0_support"
409
+ },
410
+ "robot0_agentview_left": {
411
+ "pos": [
412
+ -0.5,
413
+ 0.35,
414
+ 1.05
415
+ ],
416
+ "quat": [
417
+ 0.55623853,
418
+ 0.29935253,
419
+ -0.37678665,
420
+ -0.6775092
421
+ ],
422
+ "camera_attribs": {
423
+ "fovy": "60"
424
+ },
425
+ "parent_body": "mobilebase0_support"
426
+ },
427
+ "robot0_agentview_right": {
428
+ "pos": [
429
+ -0.5,
430
+ -0.35,
431
+ 1.05
432
+ ],
433
+ "quat": [
434
+ 0.6775091886520386,
435
+ 0.3767866790294647,
436
+ -0.2993525564670563,
437
+ -0.55623859167099
438
+ ],
439
+ "camera_attribs": {
440
+ "fovy": "60"
441
+ },
442
+ "parent_body": "mobilebase0_support"
443
+ },
444
+ "robot0_frontview": {
445
+ "pos": [
446
+ -0.5,
447
+ 0,
448
+ 0.95
449
+ ],
450
+ "quat": [
451
+ 0.6088936924934387,
452
+ 0.3814677894115448,
453
+ -0.3673907518386841,
454
+ -0.5905545353889465
455
+ ],
456
+ "camera_attribs": {
457
+ "fovy": "60"
458
+ },
459
+ "parent_body": "mobilebase0_support"
460
+ },
461
+ "robot0_eye_in_hand": {
462
+ "pos": [
463
+ 0.05,
464
+ 0,
465
+ 0
466
+ ],
467
+ "quat": [
468
+ 0,
469
+ 0.707107,
470
+ 0.707107,
471
+ 0
472
+ ],
473
+ "parent_body": "robot0_right_hand"
474
+ }
475
+ },
476
+ "init_robot_base_pos": [
477
+ 4.041994981540647,
478
+ -0.8312817724386659,
479
+ 0.0
480
+ ],
481
+ "init_robot_base_ori": [
482
+ 0.0,
483
+ 0.0,
484
+ 1.5707963267948966
485
+ ]
486
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000037/ep_meta.json ADDED
@@ -0,0 +1,535 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 51,
3
+ "style_id": 34,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.0011515367234920637,
36
+ -0.19457737862853805,
37
+ -0.13305811289685274
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.244743326685,
55
+ 0.24474403597500002,
56
+ 0.023217144615000004
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 2.7529151738601576,
87
+ 1.124697
88
+ ],
89
+ "offset": [
90
+ -0.012379913069921145,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1223716633425,
108
+ 0.1223716633425
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread_flat",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread_flat",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1223716633425,
144
+ 0.1223716633425
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "kiwi",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "kiwi",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_2_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_2_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_1_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_1_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_3_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_3_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "floor_1_room": {
203
+ "cls": "Floor"
204
+ },
205
+ "floor_1_backing_room": {
206
+ "cls": "Floor"
207
+ },
208
+ "wallaccessory_01_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "wallaccessory_02_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wallaccessory_03_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wallaccessory_04_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wallaccessory_05_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wallaccessory_06_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "wallaccessory_07_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "window_group_1_room": {
230
+ "cls": "Window"
231
+ },
232
+ "window_group_2_room": {
233
+ "cls": "Window"
234
+ },
235
+ "stool_2_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "stool_3_room": {
239
+ "cls": "Stool"
240
+ },
241
+ "stool_1_room": {
242
+ "cls": "Stool"
243
+ },
244
+ "hingecabinet_2_main_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "hingecabinet_5_main_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "hingecabinet_3_main_group_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "singlecabinet_1_main_group_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "cube_2_main_group_1": {
257
+ "cls": "Box"
258
+ },
259
+ "hingecabinet_6_main_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "counter_1_main_group_1": {
263
+ "cls": "Counter"
264
+ },
265
+ "sink_main_group_1": {
266
+ "cls": "Sink"
267
+ },
268
+ "counter_2_main_group_1": {
269
+ "cls": "Counter"
270
+ },
271
+ "counter_3_main_group_1": {
272
+ "cls": "Counter"
273
+ },
274
+ "counter_corner_1_main_group_1": {
275
+ "cls": "Counter"
276
+ },
277
+ "stove_main_group_1": {
278
+ "cls": "Stove"
279
+ },
280
+ "microwave_main_group_1": {
281
+ "cls": "Microwave"
282
+ },
283
+ "micro_cab_main_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "stack_01_main_group_1_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_01_main_group_1_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "stack_02_main_group_1_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_02_main_group_1_1": {
296
+ "cls": "HingeCabinet"
297
+ },
298
+ "stack_02_main_group_1_2": {
299
+ "cls": "PanelCabinet"
300
+ },
301
+ "stack_03_main_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_03_main_group_1_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "stack_03_main_group_1_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "stack_04_main_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_04_main_group_1_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "stack_04_main_group_1_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_05_main_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_05_main_group_1_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "stack_05_main_group_1_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_06_main_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_06_main_group_1_1": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_06_main_group_1_2": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_06_main_group_1_3": {
338
+ "cls": "Drawer"
339
+ },
340
+ "cube_1_main_group_1": {
341
+ "cls": "Box"
342
+ },
343
+ "dishwasher_1_main_group_1": {
344
+ "cls": "Dishwasher"
345
+ },
346
+ "coffee_machine_main_group_1": {
347
+ "cls": "CoffeeMachine"
348
+ },
349
+ "papertowel_main_group_1": {
350
+ "cls": "Accessory"
351
+ },
352
+ "plant_main_group_1": {
353
+ "cls": "Accessory"
354
+ },
355
+ "toaster_main_group_1": {
356
+ "cls": "Toaster"
357
+ },
358
+ "fridgefrenchdoor_main_group_1": {
359
+ "cls": "FridgeFrenchDoor"
360
+ },
361
+ "fridgefrenchdoor_housing_main_group_1": {
362
+ "cls": "HousingCabinet"
363
+ },
364
+ "hingecabinet_4_main_group_1": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "hingecabinet_1_right_group_1": {
368
+ "cls": "HingeCabinet"
369
+ },
370
+ "singlecabinet_3_right_group_1": {
371
+ "cls": "SingleCabinet"
372
+ },
373
+ "counter_4_right_group_1": {
374
+ "cls": "Counter"
375
+ },
376
+ "counter_5_right_group_1": {
377
+ "cls": "Counter"
378
+ },
379
+ "stack_07_right_group_1_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_07_right_group_1_1": {
383
+ "cls": "SingleCabinet"
384
+ },
385
+ "stack_08_right_group_1_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_08_right_group_1_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "stack_08_right_group_1_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "cube_1_right_group_1": {
395
+ "cls": "Box"
396
+ },
397
+ "toaster_oven_right_group_1": {
398
+ "cls": "ToasterOven"
399
+ },
400
+ "island_island_group_1": {
401
+ "cls": "Counter"
402
+ },
403
+ "stack_09_island_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_09_island_group_1_1": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_09_island_group_1_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_09_island_group_1_3": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_11_island_group_1_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_11_island_group_1_1": {
419
+ "cls": "SingleCabinet"
420
+ },
421
+ "stack_11_island_group_1_2": {
422
+ "cls": "Drawer"
423
+ },
424
+ "stack_10_island_group_1_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_10_island_group_1_1": {
428
+ "cls": "HingeCabinet"
429
+ },
430
+ "stack_10_island_group_1_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "cube_1_island_group_1": {
434
+ "cls": "Box"
435
+ }
436
+ },
437
+ "gen_textures": {},
438
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
439
+ "fixture_refs": {
440
+ "stool": "stool_2_room",
441
+ "dining_counter": "island_island_group_1",
442
+ "coffee_machine": "coffee_machine_main_group_1"
443
+ },
444
+ "cam_configs": {
445
+ "robot0_agentview_center": {
446
+ "pos": [
447
+ -0.6,
448
+ 0.0,
449
+ 1.15
450
+ ],
451
+ "quat": [
452
+ 0.636945903301239,
453
+ 0.3325185477733612,
454
+ -0.3199238181114197,
455
+ -0.6175596117973328
456
+ ],
457
+ "parent_body": "mobilebase0_support"
458
+ },
459
+ "robot0_agentview_left": {
460
+ "pos": [
461
+ -0.5,
462
+ 0.35,
463
+ 1.05
464
+ ],
465
+ "quat": [
466
+ 0.55623853,
467
+ 0.29935253,
468
+ -0.37678665,
469
+ -0.6775092
470
+ ],
471
+ "camera_attribs": {
472
+ "fovy": "60"
473
+ },
474
+ "parent_body": "mobilebase0_support"
475
+ },
476
+ "robot0_agentview_right": {
477
+ "pos": [
478
+ -0.5,
479
+ -0.35,
480
+ 1.05
481
+ ],
482
+ "quat": [
483
+ 0.6775091886520386,
484
+ 0.3767866790294647,
485
+ -0.2993525564670563,
486
+ -0.55623859167099
487
+ ],
488
+ "camera_attribs": {
489
+ "fovy": "60"
490
+ },
491
+ "parent_body": "mobilebase0_support"
492
+ },
493
+ "robot0_frontview": {
494
+ "pos": [
495
+ -0.5,
496
+ 0,
497
+ 0.95
498
+ ],
499
+ "quat": [
500
+ 0.6088936924934387,
501
+ 0.3814677894115448,
502
+ -0.3673907518386841,
503
+ -0.5905545353889465
504
+ ],
505
+ "camera_attribs": {
506
+ "fovy": "60"
507
+ },
508
+ "parent_body": "mobilebase0_support"
509
+ },
510
+ "robot0_eye_in_hand": {
511
+ "pos": [
512
+ 0.05,
513
+ 0,
514
+ 0
515
+ ],
516
+ "quat": [
517
+ 0,
518
+ 0.707107,
519
+ 0.707107,
520
+ 0
521
+ ],
522
+ "parent_body": "robot0_right_hand"
523
+ }
524
+ },
525
+ "init_robot_base_pos": [
526
+ 1.5190884453539895,
527
+ -0.7930523149076215,
528
+ 0.0
529
+ ],
530
+ "init_robot_base_ori": [
531
+ 0.0,
532
+ 0.0,
533
+ 1.57064844767067
534
+ ]
535
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000038/ep_meta.json ADDED
@@ -0,0 +1,556 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 23,
3
+ "style_id": 27,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_18/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.0004327074170525906,
36
+ -0.19349601289234786,
37
+ -0.13762257225434033
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_1_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.23310807345,
55
+ 0.23310807345,
56
+ 0.023453234437499998
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.1280000043711358,
87
+ 1.0
88
+ ],
89
+ "offset": [
90
+ -0.3359999978144321,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.116554036725,
108
+ 0.116554036725
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "waffle",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "waffle",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.116554036725,
144
+ 0.116554036725
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "kiwi",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "kiwi",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "floor_1_room": {
191
+ "cls": "Floor"
192
+ },
193
+ "floor_1_backing_room": {
194
+ "cls": "Floor"
195
+ },
196
+ "wall_accessory_1_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "wall_accessory_2_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "wall_accessory_3_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wall_accessory_4_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "wall_accessory_5_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "wall_accessory_6_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wall_accessory_7_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "window_group_1_room": {
218
+ "cls": "Window"
219
+ },
220
+ "window_group_2_room": {
221
+ "cls": "Window"
222
+ },
223
+ "stool_1_room": {
224
+ "cls": "Stool"
225
+ },
226
+ "stool_2_room": {
227
+ "cls": "Stool"
228
+ },
229
+ "counter_corner_1_main_group": {
230
+ "cls": "Counter"
231
+ },
232
+ "sink_1_main_group": {
233
+ "cls": "Sink"
234
+ },
235
+ "counter_1_main_group": {
236
+ "cls": "Counter"
237
+ },
238
+ "counter_corner_2_main_group": {
239
+ "cls": "Counter"
240
+ },
241
+ "box_1_main_group": {
242
+ "cls": "Box"
243
+ },
244
+ "stack_1_main_group_base": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_1_main_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "dishwasher_main_group": {
251
+ "cls": "Dishwasher"
252
+ },
253
+ "stack_2_main_group_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_2_main_group_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "stack_3_main_group_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_3_main_group_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "stack_4_main_group_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_4_main_group_1": {
269
+ "cls": "HingeCabinet"
270
+ },
271
+ "box_2_main_group": {
272
+ "cls": "Box"
273
+ },
274
+ "cab_1_main_group": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "cab_2_main_group": {
278
+ "cls": "HingeCabinet"
279
+ },
280
+ "cab_3_main_group": {
281
+ "cls": "SingleCabinet"
282
+ },
283
+ "cab_4_main_group": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "top_corner_box_main_group": {
287
+ "cls": "Box"
288
+ },
289
+ "coffee_machine_main_group": {
290
+ "cls": "CoffeeMachine"
291
+ },
292
+ "paper_towel_main_group": {
293
+ "cls": "Accessory"
294
+ },
295
+ "plant_main_group": {
296
+ "cls": "Accessory"
297
+ },
298
+ "knife_block_main_group": {
299
+ "cls": "Accessory"
300
+ },
301
+ "counter_1_left_group": {
302
+ "cls": "Counter"
303
+ },
304
+ "stove_left_group": {
305
+ "cls": "Stove"
306
+ },
307
+ "counter_2_left_group": {
308
+ "cls": "Counter"
309
+ },
310
+ "stack_1_left_group_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_1_left_group_1": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_1_left_group_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_1_left_group_3": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_2_left_group_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_2_left_group_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "box_left_group": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_3_left_group_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_3_left_group_1": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_3_left_group_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_3_left_group_3": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_4_left_group_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_4_left_group_1": {
347
+ "cls": "HingeCabinet"
348
+ },
349
+ "hood_left_group": {
350
+ "cls": "Hood"
351
+ },
352
+ "cab_1_left_group": {
353
+ "cls": "OpenCabinet"
354
+ },
355
+ "cab_2_left_group": {
356
+ "cls": "OpenCabinet"
357
+ },
358
+ "toaster_oven_left_group": {
359
+ "cls": "ToasterOven"
360
+ },
361
+ "toaster_left_group": {
362
+ "cls": "Toaster"
363
+ },
364
+ "counter_1_right_group": {
365
+ "cls": "Counter"
366
+ },
367
+ "box_right_group": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_1_right_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_1_right_group_1": {
374
+ "cls": "SingleCabinet"
375
+ },
376
+ "stack_2_right_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_2_right_group_1": {
380
+ "cls": "HingeCabinet"
381
+ },
382
+ "stack_3_right_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_3_right_group_1": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_3_right_group_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_3_right_group_3": {
392
+ "cls": "Drawer"
393
+ },
394
+ "bottom_right_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "bottom_right_group_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "bottom_right_group_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "microwave_right_group": {
404
+ "cls": "Microwave"
405
+ },
406
+ "microwave_housing_right_group": {
407
+ "cls": "HousingCabinet"
408
+ },
409
+ "top_right_group": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "fridge_right_group": {
413
+ "cls": "FridgeBottomFreezer"
414
+ },
415
+ "fridge_housing_right_group": {
416
+ "cls": "HousingCabinet"
417
+ },
418
+ "cab_1_right_group": {
419
+ "cls": "HingeCabinet"
420
+ },
421
+ "cab_2_right_group": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "island_1_island_group": {
425
+ "cls": "Counter"
426
+ },
427
+ "island_box_island_group": {
428
+ "cls": "Box"
429
+ },
430
+ "island_2_island_group": {
431
+ "cls": "Counter"
432
+ },
433
+ "panel_stack_1_island_group_base": {
434
+ "cls": "Box"
435
+ },
436
+ "panel_stack_1_island_group_1": {
437
+ "cls": "PanelCabinet"
438
+ },
439
+ "stack_1_island_group_base": {
440
+ "cls": "Box"
441
+ },
442
+ "stack_1_island_group_1": {
443
+ "cls": "HingeCabinet"
444
+ },
445
+ "stack_2_island_group_base": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_2_island_group_1": {
449
+ "cls": "HingeCabinet"
450
+ },
451
+ "panel_stack_2_island_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "panel_stack_2_island_group_1": {
455
+ "cls": "PanelCabinet"
456
+ }
457
+ },
458
+ "gen_textures": {},
459
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
460
+ "fixture_refs": {
461
+ "stool": "stool_2_room",
462
+ "dining_counter": "island_1_island_group",
463
+ "coffee_machine": "coffee_machine_main_group"
464
+ },
465
+ "cam_configs": {
466
+ "robot0_agentview_center": {
467
+ "pos": [
468
+ -0.6,
469
+ 0.0,
470
+ 1.15
471
+ ],
472
+ "quat": [
473
+ 0.636945903301239,
474
+ 0.3325185477733612,
475
+ -0.3199238181114197,
476
+ -0.6175596117973328
477
+ ],
478
+ "parent_body": "mobilebase0_support"
479
+ },
480
+ "robot0_agentview_left": {
481
+ "pos": [
482
+ -0.5,
483
+ 0.35,
484
+ 1.05
485
+ ],
486
+ "quat": [
487
+ 0.55623853,
488
+ 0.29935253,
489
+ -0.37678665,
490
+ -0.6775092
491
+ ],
492
+ "camera_attribs": {
493
+ "fovy": "60"
494
+ },
495
+ "parent_body": "mobilebase0_support"
496
+ },
497
+ "robot0_agentview_right": {
498
+ "pos": [
499
+ -0.5,
500
+ -0.35,
501
+ 1.05
502
+ ],
503
+ "quat": [
504
+ 0.6775091886520386,
505
+ 0.3767866790294647,
506
+ -0.2993525564670563,
507
+ -0.55623859167099
508
+ ],
509
+ "camera_attribs": {
510
+ "fovy": "60"
511
+ },
512
+ "parent_body": "mobilebase0_support"
513
+ },
514
+ "robot0_frontview": {
515
+ "pos": [
516
+ -0.5,
517
+ 0,
518
+ 0.95
519
+ ],
520
+ "quat": [
521
+ 0.6088936924934387,
522
+ 0.3814677894115448,
523
+ -0.3673907518386841,
524
+ -0.5905545353889465
525
+ ],
526
+ "camera_attribs": {
527
+ "fovy": "60"
528
+ },
529
+ "parent_body": "mobilebase0_support"
530
+ },
531
+ "robot0_eye_in_hand": {
532
+ "pos": [
533
+ 0.05,
534
+ 0,
535
+ 0
536
+ ],
537
+ "quat": [
538
+ 0,
539
+ 0.707107,
540
+ 0.707107,
541
+ 0
542
+ ],
543
+ "parent_body": "robot0_right_hand"
544
+ }
545
+ },
546
+ "init_robot_base_pos": [
547
+ 0.9806943342167902,
548
+ -0.829454888566775,
549
+ 0.0
550
+ ],
551
+ "init_robot_base_ori": [
552
+ 0.0,
553
+ 0.0,
554
+ 1.5707963267948966
555
+ ]
556
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000039/ep_meta.json ADDED
@@ -0,0 +1,528 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 31,
3
+ "style_id": 50,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_right_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.05193250104643316,
36
+ -0.04810766942427914,
37
+ -0.12044253674952202
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.23187298679999999,
55
+ 0.231873067125,
56
+ 0.014080967775000001
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.0700514606098266,
87
+ 1.3
88
+ ],
89
+ "offset": [
90
+ 0.8643280024299411,
91
+ 2.0816681711721685e-17,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11593649339999999,
108
+ 0.11593649339999999
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "waffle",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "waffle",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11593649339999999,
144
+ 0.11593649339999999
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "banana",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1",
161
+ "group1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "banana",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_4/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_main_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_main_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_right_1_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_right_1_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_main_2_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_main_2_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_left_1_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_left_1_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_main_3_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_main_3_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "floor_1_room": {
205
+ "cls": "Floor"
206
+ },
207
+ "floor_1_backing_room": {
208
+ "cls": "Floor"
209
+ },
210
+ "floor_2_room": {
211
+ "cls": "Floor"
212
+ },
213
+ "floor_2_backing_room": {
214
+ "cls": "Floor"
215
+ },
216
+ "stool_3_room": {
217
+ "cls": "Stool"
218
+ },
219
+ "stool_2_room": {
220
+ "cls": "Stool"
221
+ },
222
+ "stool_1_room": {
223
+ "cls": "Stool"
224
+ },
225
+ "stack_1_main_group_1_base": {
226
+ "cls": "Box"
227
+ },
228
+ "stack_1_main_group_1_1": {
229
+ "cls": "HingeCabinet"
230
+ },
231
+ "fridgebottomfreezer_main_group_1": {
232
+ "cls": "FridgeBottomFreezer"
233
+ },
234
+ "fridgebottomfreezer_housing_main_group_1": {
235
+ "cls": "HousingCabinet"
236
+ },
237
+ "bottom_main_group_1_base": {
238
+ "cls": "Box"
239
+ },
240
+ "bottom_main_group_1_1": {
241
+ "cls": "Drawer"
242
+ },
243
+ "oven_main_group_1": {
244
+ "cls": "Oven"
245
+ },
246
+ "microwave_main_group_1": {
247
+ "cls": "Microwave"
248
+ },
249
+ "hingecabinet_2_main_group_1": {
250
+ "cls": "HingeCabinet"
251
+ },
252
+ "hingecabinet_3_main_group_1": {
253
+ "cls": "HingeCabinet"
254
+ },
255
+ "cube_2_main_group_1": {
256
+ "cls": "Box"
257
+ },
258
+ "cube_3_main_group_1": {
259
+ "cls": "Box"
260
+ },
261
+ "cube_1_main_group_1": {
262
+ "cls": "Box"
263
+ },
264
+ "oven_housing_main_group_1": {
265
+ "cls": "HousingCabinet"
266
+ },
267
+ "hingecabinet_1_main_group_1": {
268
+ "cls": "HingeCabinet"
269
+ },
270
+ "microwave_housing_main_group_1": {
271
+ "cls": "HousingCabinet"
272
+ },
273
+ "top_main_group_1": {
274
+ "cls": "HingeCabinet"
275
+ },
276
+ "stovetop_right_group_1": {
277
+ "cls": "Stovetop"
278
+ },
279
+ "counter_1_right_group_1": {
280
+ "cls": "Counter"
281
+ },
282
+ "hingecabinet_1_right_group_1": {
283
+ "cls": "HingeCabinet"
284
+ },
285
+ "hingecabinet_2_right_group_1": {
286
+ "cls": "HingeCabinet"
287
+ },
288
+ "hingecabinet_3_right_group_1": {
289
+ "cls": "HingeCabinet"
290
+ },
291
+ "hingecabinet_4_right_group_1": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "hood_right_group_1": {
295
+ "cls": "Hood"
296
+ },
297
+ "stack_2_right_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_2_right_group_1_1": {
301
+ "cls": "HingeCabinet"
302
+ },
303
+ "stack_2_right_group_1_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_1_right_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_1_right_group_1_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "stack_1_right_group_1_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_4_right_group_1_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_4_right_group_1_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "stack_4_right_group_1_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_3_right_group_1_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_3_right_group_1_1": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_3_right_group_1_2": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_3_right_group_1_3": {
334
+ "cls": "PanelCabinet"
335
+ },
336
+ "stack_5_right_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_5_right_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_5_right_group_1_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "coffee_machine_right_group_1": {
346
+ "cls": "CoffeeMachine"
347
+ },
348
+ "toaster_right_group_1": {
349
+ "cls": "Toaster"
350
+ },
351
+ "papertowel_right_group_1": {
352
+ "cls": "Accessory"
353
+ },
354
+ "toaster_oven_right_group_1": {
355
+ "cls": "ToasterOven"
356
+ },
357
+ "sink_island_group_1": {
358
+ "cls": "Sink"
359
+ },
360
+ "island_island_group_1": {
361
+ "cls": "Counter"
362
+ },
363
+ "cube_1_island_group_1": {
364
+ "cls": "Box"
365
+ },
366
+ "cube_2_island_group_1": {
367
+ "cls": "Box"
368
+ },
369
+ "cube_3_island_group_1": {
370
+ "cls": "Box"
371
+ },
372
+ "cube_4_island_group_1": {
373
+ "cls": "Box"
374
+ },
375
+ "cube_5_island_group_1": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_1_island_group_1_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_1_island_group_1_1": {
382
+ "cls": "Drawer"
383
+ },
384
+ "stack_1_island_group_1_2": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_1_island_group_1_3": {
388
+ "cls": "Drawer"
389
+ },
390
+ "stack_2_island_group_1_base": {
391
+ "cls": "Box"
392
+ },
393
+ "stack_2_island_group_1_1": {
394
+ "cls": "HingeCabinet"
395
+ },
396
+ "stack_3_island_group_1_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_3_island_group_1_1": {
400
+ "cls": "SingleCabinet"
401
+ },
402
+ "stack_4_island_group_1_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_4_island_group_1_1": {
406
+ "cls": "SingleCabinet"
407
+ },
408
+ "stack_5_island_group_1_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_5_island_group_1_1": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_5_island_group_1_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_5_island_group_1_3": {
418
+ "cls": "Drawer"
419
+ },
420
+ "cube_6_island_group_1": {
421
+ "cls": "Box"
422
+ },
423
+ "cube_7_island_group_1": {
424
+ "cls": "Box"
425
+ },
426
+ "dishwasher_1_island_group_1": {
427
+ "cls": "Dishwasher"
428
+ }
429
+ },
430
+ "gen_textures": {},
431
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
432
+ "fixture_refs": {
433
+ "stool": "stool_2_room",
434
+ "dining_counter": "island_island_group_1",
435
+ "coffee_machine": "coffee_machine_right_group_1"
436
+ },
437
+ "cam_configs": {
438
+ "robot0_agentview_center": {
439
+ "pos": [
440
+ -0.6,
441
+ 0.0,
442
+ 1.15
443
+ ],
444
+ "quat": [
445
+ 0.636945903301239,
446
+ 0.3325185477733612,
447
+ -0.3199238181114197,
448
+ -0.6175596117973328
449
+ ],
450
+ "parent_body": "mobilebase0_support"
451
+ },
452
+ "robot0_agentview_left": {
453
+ "pos": [
454
+ -0.5,
455
+ 0.35,
456
+ 1.05
457
+ ],
458
+ "quat": [
459
+ 0.55623853,
460
+ 0.29935253,
461
+ -0.37678665,
462
+ -0.6775092
463
+ ],
464
+ "camera_attribs": {
465
+ "fovy": "60"
466
+ },
467
+ "parent_body": "mobilebase0_support"
468
+ },
469
+ "robot0_agentview_right": {
470
+ "pos": [
471
+ -0.5,
472
+ -0.35,
473
+ 1.05
474
+ ],
475
+ "quat": [
476
+ 0.6775091886520386,
477
+ 0.3767866790294647,
478
+ -0.2993525564670563,
479
+ -0.55623859167099
480
+ ],
481
+ "camera_attribs": {
482
+ "fovy": "60"
483
+ },
484
+ "parent_body": "mobilebase0_support"
485
+ },
486
+ "robot0_frontview": {
487
+ "pos": [
488
+ -0.5,
489
+ 0,
490
+ 0.95
491
+ ],
492
+ "quat": [
493
+ 0.6088936924934387,
494
+ 0.3814677894115448,
495
+ -0.3673907518386841,
496
+ -0.5905545353889465
497
+ ],
498
+ "camera_attribs": {
499
+ "fovy": "60"
500
+ },
501
+ "parent_body": "mobilebase0_support"
502
+ },
503
+ "robot0_eye_in_hand": {
504
+ "pos": [
505
+ 0.05,
506
+ 0,
507
+ 0
508
+ ],
509
+ "quat": [
510
+ 0,
511
+ 0.707107,
512
+ 0.707107,
513
+ 0
514
+ ],
515
+ "parent_body": "robot0_right_hand"
516
+ }
517
+ },
518
+ "init_robot_base_pos": [
519
+ 4.845816777687619,
520
+ -2.6258898842241534,
521
+ 0.0
522
+ ],
523
+ "init_robot_base_ori": [
524
+ 0.0,
525
+ 0.0,
526
+ 0.00030199704781619374
527
+ ]
528
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000040/ep_meta.json ADDED
@@ -0,0 +1,505 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 54,
3
+ "style_id": 44,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.01061628440965269,
36
+ -0.20417517384924028,
37
+ -0.12513994082786392
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_3_room",
53
+ "min_size": [
54
+ 0.23270280075,
55
+ 0.23270367960000002,
56
+ 0.0122388154875
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 3.2415704209563443,
87
+ 1.17
88
+ ],
89
+ "offset": [
90
+ -0.02442878952182781,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.116351400375,
108
+ 0.116351400375
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bagel",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bagel",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_0/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.116351400375,
144
+ 0.116351400375
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "kiwi",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "kiwi",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_right_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_right_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "floor_1_room": {
185
+ "cls": "Floor"
186
+ },
187
+ "floor_1_backing_room": {
188
+ "cls": "Floor"
189
+ },
190
+ "wallaccessory_2_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "wallaccessory_1_room": {
194
+ "cls": "WallAccessory"
195
+ },
196
+ "wallaccessory_3_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "wallaccessory_4_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "window_group_room": {
203
+ "cls": "Window"
204
+ },
205
+ "stool_1_room": {
206
+ "cls": "Stool"
207
+ },
208
+ "stool_2_room": {
209
+ "cls": "Stool"
210
+ },
211
+ "stool_3_room": {
212
+ "cls": "Stool"
213
+ },
214
+ "stool_4_room": {
215
+ "cls": "Stool"
216
+ },
217
+ "fridgefrenchdoor_main_group_1": {
218
+ "cls": "FridgeFrenchDoor"
219
+ },
220
+ "fridgefrenchdoor_housing_main_group_1": {
221
+ "cls": "HousingCabinet"
222
+ },
223
+ "bottom_main_group_1_base": {
224
+ "cls": "Box"
225
+ },
226
+ "bottom_main_group_1_1": {
227
+ "cls": "Drawer"
228
+ },
229
+ "microwave_main_group_1": {
230
+ "cls": "Microwave"
231
+ },
232
+ "oven_cabinet_main_group_1": {
233
+ "cls": "HingeCabinet"
234
+ },
235
+ "hingecabinet_4_main_group_1": {
236
+ "cls": "HingeCabinet"
237
+ },
238
+ "microwave_housing_main_group_1": {
239
+ "cls": "HousingCabinet"
240
+ },
241
+ "top_main_group_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "hingecabinet_1_main_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "hingecabinet_3_main_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "singlecabinet_2_main_group_1": {
251
+ "cls": "SingleCabinet"
252
+ },
253
+ "cube_1_main_group_1": {
254
+ "cls": "Box"
255
+ },
256
+ "counter_1_main_group_1": {
257
+ "cls": "Counter"
258
+ },
259
+ "counter_2_main_group_1": {
260
+ "cls": "Counter"
261
+ },
262
+ "counter_corner_1_main_group_1": {
263
+ "cls": "Counter"
264
+ },
265
+ "stove_main_group_1": {
266
+ "cls": "Stove"
267
+ },
268
+ "stove_hood_main_group_1": {
269
+ "cls": "Hood"
270
+ },
271
+ "stack_03_main_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_03_main_group_1_1": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_03_main_group_1_2": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_03_main_group_1_3": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_02_main_group_1_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_02_main_group_1_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "stack_02_main_group_1_2": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_01_main_group_1_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_01_main_group_1_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "papertowel_main_group_1": {
299
+ "cls": "Accessory"
300
+ },
301
+ "coffee_machine_main_group_1": {
302
+ "cls": "CoffeeMachine"
303
+ },
304
+ "toaster_oven_main_group_1": {
305
+ "cls": "ToasterOven"
306
+ },
307
+ "opencabinet_1_right_group_1": {
308
+ "cls": "OpenCabinet"
309
+ },
310
+ "cube_3_right_group_1": {
311
+ "cls": "Box"
312
+ },
313
+ "cube_4_right_group_1": {
314
+ "cls": "Box"
315
+ },
316
+ "hingecabinet_6_right_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "hingecabinet_5_right_group_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "sink_right_group_1": {
323
+ "cls": "Sink"
324
+ },
325
+ "counter_4_right_group_1": {
326
+ "cls": "Counter"
327
+ },
328
+ "stack_05_right_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_05_right_group_1_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "stack_05_right_group_1_2": {
335
+ "cls": "PanelCabinet"
336
+ },
337
+ "stack_04_right_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_04_right_group_1_1": {
341
+ "cls": "SingleCabinet"
342
+ },
343
+ "stack_06_right_group_1_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_06_right_group_1_1": {
347
+ "cls": "SingleCabinet"
348
+ },
349
+ "cube_2_right_group_1": {
350
+ "cls": "Box"
351
+ },
352
+ "cube_1_right_group_1": {
353
+ "cls": "Box"
354
+ },
355
+ "toaster_right_group_1": {
356
+ "cls": "Toaster"
357
+ },
358
+ "island_island_group_1": {
359
+ "cls": "Counter"
360
+ },
361
+ "stack_07_island_group_1_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_07_island_group_1_1": {
365
+ "cls": "SingleCabinet"
366
+ },
367
+ "stack_07_island_group_1_2": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_08_island_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_08_island_group_1_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_08_island_group_1_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "cube_3_island_group_1": {
380
+ "cls": "Box"
381
+ },
382
+ "cube_4_island_group_1": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_06_island_group_1_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_06_island_group_1_1": {
389
+ "cls": "SingleCabinet"
390
+ },
391
+ "stack_06_island_group_1_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "cube_1_island_group_1": {
395
+ "cls": "Box"
396
+ },
397
+ "cube_2_island_group_1": {
398
+ "cls": "Box"
399
+ },
400
+ "dishwasher_1_island_group_1": {
401
+ "cls": "Dishwasher"
402
+ },
403
+ "plant_island_group_1": {
404
+ "cls": "Accessory"
405
+ }
406
+ },
407
+ "gen_textures": {},
408
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
409
+ "fixture_refs": {
410
+ "stool": "stool_3_room",
411
+ "dining_counter": "island_island_group_1",
412
+ "coffee_machine": "coffee_machine_main_group_1"
413
+ },
414
+ "cam_configs": {
415
+ "robot0_agentview_center": {
416
+ "pos": [
417
+ -0.6,
418
+ 0.0,
419
+ 1.15
420
+ ],
421
+ "quat": [
422
+ 0.636945903301239,
423
+ 0.3325185477733612,
424
+ -0.3199238181114197,
425
+ -0.6175596117973328
426
+ ],
427
+ "parent_body": "mobilebase0_support"
428
+ },
429
+ "robot0_agentview_left": {
430
+ "pos": [
431
+ -0.5,
432
+ 0.35,
433
+ 1.05
434
+ ],
435
+ "quat": [
436
+ 0.55623853,
437
+ 0.29935253,
438
+ -0.37678665,
439
+ -0.6775092
440
+ ],
441
+ "camera_attribs": {
442
+ "fovy": "60"
443
+ },
444
+ "parent_body": "mobilebase0_support"
445
+ },
446
+ "robot0_agentview_right": {
447
+ "pos": [
448
+ -0.5,
449
+ -0.35,
450
+ 1.05
451
+ ],
452
+ "quat": [
453
+ 0.6775091886520386,
454
+ 0.3767866790294647,
455
+ -0.2993525564670563,
456
+ -0.55623859167099
457
+ ],
458
+ "camera_attribs": {
459
+ "fovy": "60"
460
+ },
461
+ "parent_body": "mobilebase0_support"
462
+ },
463
+ "robot0_frontview": {
464
+ "pos": [
465
+ -0.5,
466
+ 0,
467
+ 0.95
468
+ ],
469
+ "quat": [
470
+ 0.6088936924934387,
471
+ 0.3814677894115448,
472
+ -0.3673907518386841,
473
+ -0.5905545353889465
474
+ ],
475
+ "camera_attribs": {
476
+ "fovy": "60"
477
+ },
478
+ "parent_body": "mobilebase0_support"
479
+ },
480
+ "robot0_eye_in_hand": {
481
+ "pos": [
482
+ 0.05,
483
+ 0,
484
+ 0
485
+ ],
486
+ "quat": [
487
+ 0,
488
+ 0.707107,
489
+ 0.707107,
490
+ 0
491
+ ],
492
+ "parent_body": "robot0_right_hand"
493
+ }
494
+ },
495
+ "init_robot_base_pos": [
496
+ 4.541044387163982,
497
+ -0.8944518993699103,
498
+ 0.0
499
+ ],
500
+ "init_robot_base_ori": [
501
+ 0.0,
502
+ 0.0,
503
+ 1.5706379572530664
504
+ ]
505
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000041/ep_meta.json ADDED
@@ -0,0 +1,472 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 41,
3
+ "style_id": 17,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_14/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.008366496142723084,
36
+ -0.21506479061786385,
37
+ -0.09137394481392358
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_2",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.245914494345,
55
+ 0.24590248636500003,
56
+ 0.033029782155
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.4751400000000006,
87
+ 1.299989
88
+ ],
89
+ "offset": [
90
+ -0.3099789999999998,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12295124318250002,
108
+ 0.12295124318250002
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bagel",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bagel",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_0/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12295124318250002,
144
+ 0.12295124318250002
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "mango",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "mango",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_10/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_main_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_right_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_right_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_2_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_2_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_3_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_3_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "floor_1_room": {
197
+ "cls": "Floor"
198
+ },
199
+ "floor_1_backing_room": {
200
+ "cls": "Floor"
201
+ },
202
+ "lightswitch_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wallaccessory.003_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "wallaccessory.001_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "window_group_room": {
212
+ "cls": "Window"
213
+ },
214
+ "stool_1_room": {
215
+ "cls": "Stool"
216
+ },
217
+ "stool_2_room": {
218
+ "cls": "Stool"
219
+ },
220
+ "sink_main_group_1": {
221
+ "cls": "Sink"
222
+ },
223
+ "counter_1_main_group_1": {
224
+ "cls": "Counter"
225
+ },
226
+ "singlecabinet_1_main_group_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "singlecabinet_2_main_group_1": {
230
+ "cls": "SingleCabinet"
231
+ },
232
+ "stack_1_main_group_1_base": {
233
+ "cls": "Box"
234
+ },
235
+ "stack_1_main_group_1_1": {
236
+ "cls": "HingeCabinet"
237
+ },
238
+ "stack_1_main_group_1_2": {
239
+ "cls": "Drawer"
240
+ },
241
+ "stack_2_main_group_1_base": {
242
+ "cls": "Box"
243
+ },
244
+ "stack_2_main_group_1_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "stack_2_main_group_1_2": {
248
+ "cls": "PanelCabinet"
249
+ },
250
+ "cube_1_main_group_1": {
251
+ "cls": "Box"
252
+ },
253
+ "dishwasher_1_main_group_1": {
254
+ "cls": "Dishwasher"
255
+ },
256
+ "bottom_main_group_1_base": {
257
+ "cls": "Box"
258
+ },
259
+ "bottom_main_group_1_1": {
260
+ "cls": "Drawer"
261
+ },
262
+ "microwave_main_group_1": {
263
+ "cls": "Microwave"
264
+ },
265
+ "fridgesidebyside_main_group_1": {
266
+ "cls": "FridgeSideBySide"
267
+ },
268
+ "fridgesidebyside_housing_main_group_1": {
269
+ "cls": "HousingCabinet"
270
+ },
271
+ "oven_cabinet_main_group_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "hingecabinet_1_main_group_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "microwave_housing_main_group_1": {
278
+ "cls": "HousingCabinet"
279
+ },
280
+ "top_main_group_1": {
281
+ "cls": "HingeCabinet"
282
+ },
283
+ "coffee_machine_main_group_1": {
284
+ "cls": "CoffeeMachine"
285
+ },
286
+ "knife_block_main_group_1": {
287
+ "cls": "Accessory"
288
+ },
289
+ "counter_1_right_group_1": {
290
+ "cls": "Counter"
291
+ },
292
+ "counter_2_right_group_1": {
293
+ "cls": "Counter"
294
+ },
295
+ "stove_right_group_1": {
296
+ "cls": "Stove"
297
+ },
298
+ "stove_hood_right_group_1": {
299
+ "cls": "Hood"
300
+ },
301
+ "singlecabinet_1_right_group_1": {
302
+ "cls": "SingleCabinet"
303
+ },
304
+ "singlecabinet_2_right_group_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "stack_1_right_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_1_right_group_1_1": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "stack_1_right_group_1_2": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_2_right_group_1_base": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_2_right_group_1_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "stack_2_right_group_1_2": {
323
+ "cls": "Drawer"
324
+ },
325
+ "toaster_right_group_1": {
326
+ "cls": "Toaster"
327
+ },
328
+ "stack_1_island_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_1_island_group_1_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "stack_1_island_group_1_2": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_2_island_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_2_island_group_1_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "stack_2_island_group_1_2": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_3_island_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_3_island_group_1_1": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_3_island_group_1_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "island_island_group_2": {
356
+ "cls": "Counter"
357
+ },
358
+ "stack_4_island_group_2_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_4_island_group_2_1": {
362
+ "cls": "SingleCabinet"
363
+ },
364
+ "stack_5_island_group_2_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_5_island_group_2_1": {
368
+ "cls": "SingleCabinet"
369
+ },
370
+ "paper_towel_island_group_2": {
371
+ "cls": "Accessory"
372
+ }
373
+ },
374
+ "gen_textures": {},
375
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
376
+ "fixture_refs": {
377
+ "stool": "stool_2_room",
378
+ "dining_counter": "island_island_group_2",
379
+ "coffee_machine": "coffee_machine_main_group_1"
380
+ },
381
+ "cam_configs": {
382
+ "robot0_agentview_center": {
383
+ "pos": [
384
+ -0.6,
385
+ 0.0,
386
+ 1.15
387
+ ],
388
+ "quat": [
389
+ 0.636945903301239,
390
+ 0.3325185477733612,
391
+ -0.3199238181114197,
392
+ -0.6175596117973328
393
+ ],
394
+ "parent_body": "mobilebase0_support"
395
+ },
396
+ "robot0_agentview_left": {
397
+ "pos": [
398
+ -0.5,
399
+ 0.35,
400
+ 1.05
401
+ ],
402
+ "quat": [
403
+ 0.55623853,
404
+ 0.29935253,
405
+ -0.37678665,
406
+ -0.6775092
407
+ ],
408
+ "camera_attribs": {
409
+ "fovy": "60"
410
+ },
411
+ "parent_body": "mobilebase0_support"
412
+ },
413
+ "robot0_agentview_right": {
414
+ "pos": [
415
+ -0.5,
416
+ -0.35,
417
+ 1.05
418
+ ],
419
+ "quat": [
420
+ 0.6775091886520386,
421
+ 0.3767866790294647,
422
+ -0.2993525564670563,
423
+ -0.55623859167099
424
+ ],
425
+ "camera_attribs": {
426
+ "fovy": "60"
427
+ },
428
+ "parent_body": "mobilebase0_support"
429
+ },
430
+ "robot0_frontview": {
431
+ "pos": [
432
+ -0.5,
433
+ 0,
434
+ 0.95
435
+ ],
436
+ "quat": [
437
+ 0.6088936924934387,
438
+ 0.3814677894115448,
439
+ -0.3673907518386841,
440
+ -0.5905545353889465
441
+ ],
442
+ "camera_attribs": {
443
+ "fovy": "60"
444
+ },
445
+ "parent_body": "mobilebase0_support"
446
+ },
447
+ "robot0_eye_in_hand": {
448
+ "pos": [
449
+ 0.05,
450
+ 0,
451
+ 0
452
+ ],
453
+ "quat": [
454
+ 0,
455
+ 0.707107,
456
+ 0.707107,
457
+ 0
458
+ ],
459
+ "parent_body": "robot0_right_hand"
460
+ }
461
+ },
462
+ "init_robot_base_pos": [
463
+ 1.588263674373367,
464
+ -0.8329502384839325,
465
+ 0.0
466
+ ],
467
+ "init_robot_base_ori": [
468
+ 0.0,
469
+ 0.0,
470
+ 1.5707963267948966
471
+ ]
472
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000043/ep_meta.json ADDED
@@ -0,0 +1,583 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 17,
3
+ "style_id": 34,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.0011515367234920637,
36
+ -0.19457737862853805,
37
+ -0.13305811289685274
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.24709981284000002,
55
+ 0.24709756509000005,
56
+ 0.021416774287499996
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.833,
87
+ 1.167
88
+ ],
89
+ "offset": [
90
+ 0.0,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12354878254500003,
108
+ 0.12354878254500003
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread006/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12354878254500003,
144
+ 0.12354878254500003
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "pear",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "pear",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "window_group_room": {
191
+ "cls": "Window"
192
+ },
193
+ "floor_1_room": {
194
+ "cls": "Floor"
195
+ },
196
+ "floor_1_backing_room": {
197
+ "cls": "Floor"
198
+ },
199
+ "wall_accessory_1_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "wall_accessory_2_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wall_accessory_3_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "wall_accessory_4_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "light_switch_1_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wall_accessory_5_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wall_accessory_6_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "stool_1_room": {
221
+ "cls": "Stool"
222
+ },
223
+ "stool_2_room": {
224
+ "cls": "Stool"
225
+ },
226
+ "stool_3_room": {
227
+ "cls": "Stool"
228
+ },
229
+ "counter_corner_1_main_group_1": {
230
+ "cls": "Counter"
231
+ },
232
+ "stovetop_main_group_1": {
233
+ "cls": "Stovetop"
234
+ },
235
+ "counter_1_main_group_1": {
236
+ "cls": "Counter"
237
+ },
238
+ "counter_corner_2_main_group_1": {
239
+ "cls": "Counter"
240
+ },
241
+ "box_1_main_group_1": {
242
+ "cls": "Box"
243
+ },
244
+ "stack_1_main_group_1_base": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_1_main_group_1_1": {
248
+ "cls": "SingleCabinet"
249
+ },
250
+ "stack_2_main_group_1_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_2_main_group_1_1": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_2_main_group_1_2": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_2_main_group_1_3": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_3_main_group_1_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_3_main_group_1_1": {
266
+ "cls": "SingleCabinet"
267
+ },
268
+ "stack_4_main_group_1_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_4_main_group_1_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "stack_5_main_group_1_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_5_main_group_1_1": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "stack_6_main_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_6_main_group_1_1": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_6_main_group_1_2": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_6_main_group_1_3": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_7_main_group_1_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_7_main_group_1_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "box_2_main_group_1": {
299
+ "cls": "Box"
300
+ },
301
+ "hood_main_group_1": {
302
+ "cls": "Hood"
303
+ },
304
+ "cab_corner_main_group_1": {
305
+ "cls": "Box"
306
+ },
307
+ "cab_1_main_group_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "cab_2_main_group_1": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "cab_3_main_group_1": {
314
+ "cls": "SingleCabinet"
315
+ },
316
+ "cab_4_main_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_5_main_group_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "cab_6_main_group_1": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "cab_corner_2_main_group_1": {
326
+ "cls": "Box"
327
+ },
328
+ "coffee_machine_main_group_1": {
329
+ "cls": "CoffeeMachine"
330
+ },
331
+ "toaster_main_group_1": {
332
+ "cls": "Toaster"
333
+ },
334
+ "paper_towel_main_group_1": {
335
+ "cls": "Accessory"
336
+ },
337
+ "knife_block_main_group_1": {
338
+ "cls": "Accessory"
339
+ },
340
+ "counter_1_left_group_1": {
341
+ "cls": "Counter"
342
+ },
343
+ "stack_1_left_group_1_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_1_left_group_1_1": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_1_left_group_1_2": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_1_left_group_1_3": {
353
+ "cls": "Drawer"
354
+ },
355
+ "box_left_group_1": {
356
+ "cls": "Box"
357
+ },
358
+ "bottom_left_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "bottom_left_group_1_1": {
362
+ "cls": "Drawer"
363
+ },
364
+ "oven_left_group_1": {
365
+ "cls": "Oven"
366
+ },
367
+ "oven_housing_left_group_1": {
368
+ "cls": "HousingCabinet"
369
+ },
370
+ "microwave_left_group_1": {
371
+ "cls": "Microwave"
372
+ },
373
+ "microwave_housing_left_group_1": {
374
+ "cls": "HousingCabinet"
375
+ },
376
+ "top_left_group_1": {
377
+ "cls": "HingeCabinet"
378
+ },
379
+ "fridge_1_left_group_1": {
380
+ "cls": "FridgeBottomFreezer"
381
+ },
382
+ "fridge_1_housing_left_group_1": {
383
+ "cls": "HousingCabinet"
384
+ },
385
+ "fridge_cabinet_left_group_1": {
386
+ "cls": "HingeCabinet"
387
+ },
388
+ "cab_1_left_group_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "toaster_oven_left_group_1": {
392
+ "cls": "ToasterOven"
393
+ },
394
+ "box_right_group_1": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_1_right_group_1_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_1_right_group_1_1": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_1_right_group_1_2": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_1_right_group_1_3": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_2_right_group_1_base": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_2_right_group_1_1": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_2_right_group_1_2": {
416
+ "cls": "Drawer"
417
+ },
418
+ "stack_2_right_group_1_3": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_3_right_group_1_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_3_right_group_1_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "dishwasher_1_right_group_1": {
428
+ "cls": "Dishwasher"
429
+ },
430
+ "stack_4_right_group_1_base": {
431
+ "cls": "Box"
432
+ },
433
+ "stack_4_right_group_1_1": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_4_right_group_1_2": {
437
+ "cls": "Drawer"
438
+ },
439
+ "stack_4_right_group_1_3": {
440
+ "cls": "Drawer"
441
+ },
442
+ "sink_1_right_group_1": {
443
+ "cls": "Sink"
444
+ },
445
+ "counter_1_right_group_1": {
446
+ "cls": "Counter"
447
+ },
448
+ "cab_1_right_group_1": {
449
+ "cls": "OpenCabinet"
450
+ },
451
+ "cab_2_right_group_1": {
452
+ "cls": "OpenCabinet"
453
+ },
454
+ "island_island_group_1": {
455
+ "cls": "Counter"
456
+ },
457
+ "stack_1_island_group_1_base": {
458
+ "cls": "Box"
459
+ },
460
+ "stack_1_island_group_1_1": {
461
+ "cls": "Drawer"
462
+ },
463
+ "stack_1_island_group_1_2": {
464
+ "cls": "Drawer"
465
+ },
466
+ "stack_2_island_group_1_base": {
467
+ "cls": "Box"
468
+ },
469
+ "stack_2_island_group_1_1": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_2_island_group_1_2": {
473
+ "cls": "Drawer"
474
+ },
475
+ "stack_3_island_group_1_base": {
476
+ "cls": "Box"
477
+ },
478
+ "stack_3_island_group_1_1": {
479
+ "cls": "Drawer"
480
+ },
481
+ "stack_3_island_group_1_2": {
482
+ "cls": "Drawer"
483
+ }
484
+ },
485
+ "gen_textures": {},
486
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
487
+ "fixture_refs": {
488
+ "stool": "stool_1_room",
489
+ "dining_counter": "island_island_group_1",
490
+ "coffee_machine": "coffee_machine_main_group_1"
491
+ },
492
+ "cam_configs": {
493
+ "robot0_agentview_center": {
494
+ "pos": [
495
+ -0.6,
496
+ 0.0,
497
+ 1.15
498
+ ],
499
+ "quat": [
500
+ 0.636945903301239,
501
+ 0.3325185477733612,
502
+ -0.3199238181114197,
503
+ -0.6175596117973328
504
+ ],
505
+ "parent_body": "mobilebase0_support"
506
+ },
507
+ "robot0_agentview_left": {
508
+ "pos": [
509
+ -0.5,
510
+ 0.35,
511
+ 1.05
512
+ ],
513
+ "quat": [
514
+ 0.55623853,
515
+ 0.29935253,
516
+ -0.37678665,
517
+ -0.6775092
518
+ ],
519
+ "camera_attribs": {
520
+ "fovy": "60"
521
+ },
522
+ "parent_body": "mobilebase0_support"
523
+ },
524
+ "robot0_agentview_right": {
525
+ "pos": [
526
+ -0.5,
527
+ -0.35,
528
+ 1.05
529
+ ],
530
+ "quat": [
531
+ 0.6775091886520386,
532
+ 0.3767866790294647,
533
+ -0.2993525564670563,
534
+ -0.55623859167099
535
+ ],
536
+ "camera_attribs": {
537
+ "fovy": "60"
538
+ },
539
+ "parent_body": "mobilebase0_support"
540
+ },
541
+ "robot0_frontview": {
542
+ "pos": [
543
+ -0.5,
544
+ 0,
545
+ 0.95
546
+ ],
547
+ "quat": [
548
+ 0.6088936924934387,
549
+ 0.3814677894115448,
550
+ -0.3673907518386841,
551
+ -0.5905545353889465
552
+ ],
553
+ "camera_attribs": {
554
+ "fovy": "60"
555
+ },
556
+ "parent_body": "mobilebase0_support"
557
+ },
558
+ "robot0_eye_in_hand": {
559
+ "pos": [
560
+ 0.05,
561
+ 0,
562
+ 0
563
+ ],
564
+ "quat": [
565
+ 0,
566
+ 0.707107,
567
+ 0.707107,
568
+ 0
569
+ ],
570
+ "parent_body": "robot0_right_hand"
571
+ }
572
+ },
573
+ "init_robot_base_pos": [
574
+ 1.9369365143711263,
575
+ -0.7502333111943563,
576
+ 0.0
577
+ ],
578
+ "init_robot_base_ori": [
579
+ 0.0,
580
+ 0.0,
581
+ 1.5707963267948966
582
+ ]
583
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000044/ep_meta.json ADDED
@@ -0,0 +1,495 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 38,
3
+ "style_id": 56,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffeemachine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_10/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.00048582366648143235,
36
+ -0.13520672802323927,
37
+ -0.12136385320177569
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_3_room",
53
+ "min_size": [
54
+ 0.23270280075,
55
+ 0.23270367960000002,
56
+ 0.0122388154875
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 2.16700009053417,
87
+ 1.079
88
+ ],
89
+ "offset": [
90
+ -0.38599995473291493,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.116351400375,
108
+ 0.116351400375
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "baguette",
121
+ "bread_food",
122
+ "food",
123
+ "in_container",
124
+ "food_set1"
125
+ ],
126
+ "groups": [
127
+ "bread_food",
128
+ "pancake",
129
+ "waffle"
130
+ ],
131
+ "cat": "baguette",
132
+ "split": "train",
133
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml"
134
+ }
135
+ },
136
+ {
137
+ "name": "breakfast_item2",
138
+ "obj_groups": [
139
+ "fruit",
140
+ "cheese"
141
+ ],
142
+ "placement": {
143
+ "size": [
144
+ 0.116351400375,
145
+ 0.116351400375
146
+ ],
147
+ "ensure_object_boundary_in_range": false,
148
+ "sample_args": {
149
+ "reference": "breakfast_plate",
150
+ "on_top": true
151
+ }
152
+ },
153
+ "type": "object",
154
+ "info": {
155
+ "groups_containing_sampled_obj": [
156
+ "all",
157
+ "cheese",
158
+ "dairy",
159
+ "food",
160
+ "in_container",
161
+ "food_set1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "cheese",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_main_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_main_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_left_1_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_left_1_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_left_2_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_left_2_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_left_3_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_left_3_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "floor_1_room": {
199
+ "cls": "Floor"
200
+ },
201
+ "floor_1_backing_room": {
202
+ "cls": "Floor"
203
+ },
204
+ "wallaccessory.001_room": {
205
+ "cls": "WallAccessory"
206
+ },
207
+ "wallaccessory.005_room": {
208
+ "cls": "WallAccessory"
209
+ },
210
+ "wallaccessory.003_room": {
211
+ "cls": "WallAccessory"
212
+ },
213
+ "wallaccessory.004_room": {
214
+ "cls": "WallAccessory"
215
+ },
216
+ "wallaccessory.007_room": {
217
+ "cls": "WallAccessory"
218
+ },
219
+ "stool_2_room": {
220
+ "cls": "Stool"
221
+ },
222
+ "stool_3_room": {
223
+ "cls": "Stool"
224
+ },
225
+ "stool_4_room": {
226
+ "cls": "Stool"
227
+ },
228
+ "stool_1_room": {
229
+ "cls": "Stool"
230
+ },
231
+ "sink_main_group_1": {
232
+ "cls": "Sink"
233
+ },
234
+ "counter_1_main_group_1": {
235
+ "cls": "Counter"
236
+ },
237
+ "opencabinet_1_main_group_1": {
238
+ "cls": "OpenCabinet"
239
+ },
240
+ "opencabinet_2_main_group_1": {
241
+ "cls": "OpenCabinet"
242
+ },
243
+ "stack_1_main_group_1_base": {
244
+ "cls": "Box"
245
+ },
246
+ "stack_1_main_group_1_1": {
247
+ "cls": "SingleCabinet"
248
+ },
249
+ "stack_1_main_group_1_2": {
250
+ "cls": "Drawer"
251
+ },
252
+ "stack_2_main_group_1_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_2_main_group_1_1": {
256
+ "cls": "SingleCabinet"
257
+ },
258
+ "stack_4_main_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_4_main_group_1_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "stack_4_main_group_1_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "dishwasher_1_main_group_1": {
268
+ "cls": "Dishwasher"
269
+ },
270
+ "stack_3_main_group_1_base": {
271
+ "cls": "Box"
272
+ },
273
+ "stack_3_main_group_1_1": {
274
+ "cls": "HingeCabinet"
275
+ },
276
+ "coffeemachine_main_group_1": {
277
+ "cls": "CoffeeMachine"
278
+ },
279
+ "paper_towel_main_group_1": {
280
+ "cls": "Accessory"
281
+ },
282
+ "toaster_main_group_1": {
283
+ "cls": "Toaster"
284
+ },
285
+ "bottom_main_group_1_base": {
286
+ "cls": "Box"
287
+ },
288
+ "bottom_main_group_1_1": {
289
+ "cls": "Drawer"
290
+ },
291
+ "oven_cabinet_main_group_1": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "microwave_main_group_1": {
295
+ "cls": "Microwave"
296
+ },
297
+ "microwave_housing_main_group_1": {
298
+ "cls": "HousingCabinet"
299
+ },
300
+ "top_main_group_1": {
301
+ "cls": "HingeCabinet"
302
+ },
303
+ "counter_1_left_group_1": {
304
+ "cls": "Counter"
305
+ },
306
+ "stove_left_group_1": {
307
+ "cls": "Stove"
308
+ },
309
+ "counter_2_left_group_1": {
310
+ "cls": "Counter"
311
+ },
312
+ "fridgesidebyside_left_group_1": {
313
+ "cls": "FridgeSideBySide"
314
+ },
315
+ "fridgesidebyside_housing_left_group_1": {
316
+ "cls": "HousingCabinet"
317
+ },
318
+ "hingecabinet_1_left_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "hingecabinet_2_left_group_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "hingecabinet_3_left_group_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "hingecabinet_4_left_group_1": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "stack_1_left_group_1_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_1_left_group_1_1": {
334
+ "cls": "SingleCabinet"
335
+ },
336
+ "stack_2_left_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_2_left_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_4_left_group_1_base": {
343
+ "cls": "Box"
344
+ },
345
+ "stack_4_left_group_1_1": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "knifeblock_left_group_1": {
349
+ "cls": "Accessory"
350
+ },
351
+ "toaster_oven_left_group_1": {
352
+ "cls": "ToasterOven"
353
+ },
354
+ "island_island_group_1": {
355
+ "cls": "Counter"
356
+ },
357
+ "cube_3_island_group_1": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_1_island_group_1_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_1_island_group_1_1": {
364
+ "cls": "SingleCabinet"
365
+ },
366
+ "stack_2_island_group_1_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_2_island_group_1_1": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "stack_2_island_group_1_2": {
373
+ "cls": "Drawer"
374
+ },
375
+ "stack_3_island_group_1_base": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_3_island_group_1_1": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "stack_3_island_group_1_2": {
382
+ "cls": "Drawer"
383
+ },
384
+ "stack_4_island_group_1_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_4_island_group_1_1": {
388
+ "cls": "Drawer"
389
+ },
390
+ "stack_4_island_group_1_2": {
391
+ "cls": "Drawer"
392
+ },
393
+ "cube_2_island_group_1": {
394
+ "cls": "Box"
395
+ }
396
+ },
397
+ "gen_textures": {},
398
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
399
+ "fixture_refs": {
400
+ "stool": "stool_3_room",
401
+ "dining_counter": "island_island_group_1",
402
+ "coffee_machine": "coffeemachine_main_group_1"
403
+ },
404
+ "cam_configs": {
405
+ "robot0_agentview_center": {
406
+ "pos": [
407
+ -0.6,
408
+ 0.0,
409
+ 1.15
410
+ ],
411
+ "quat": [
412
+ 0.636945903301239,
413
+ 0.3325185477733612,
414
+ -0.3199238181114197,
415
+ -0.6175596117973328
416
+ ],
417
+ "parent_body": "mobilebase0_support"
418
+ },
419
+ "robot0_agentview_left": {
420
+ "pos": [
421
+ -0.5,
422
+ 0.35,
423
+ 1.05
424
+ ],
425
+ "quat": [
426
+ 0.55623853,
427
+ 0.29935253,
428
+ -0.37678665,
429
+ -0.6775092
430
+ ],
431
+ "camera_attribs": {
432
+ "fovy": "60"
433
+ },
434
+ "parent_body": "mobilebase0_support"
435
+ },
436
+ "robot0_agentview_right": {
437
+ "pos": [
438
+ -0.5,
439
+ -0.35,
440
+ 1.05
441
+ ],
442
+ "quat": [
443
+ 0.6775091886520386,
444
+ 0.3767866790294647,
445
+ -0.2993525564670563,
446
+ -0.55623859167099
447
+ ],
448
+ "camera_attribs": {
449
+ "fovy": "60"
450
+ },
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_frontview": {
454
+ "pos": [
455
+ -0.5,
456
+ 0,
457
+ 0.95
458
+ ],
459
+ "quat": [
460
+ 0.6088936924934387,
461
+ 0.3814677894115448,
462
+ -0.3673907518386841,
463
+ -0.5905545353889465
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_eye_in_hand": {
471
+ "pos": [
472
+ 0.05,
473
+ 0,
474
+ 0
475
+ ],
476
+ "quat": [
477
+ 0,
478
+ 0.707107,
479
+ 0.707107,
480
+ 0
481
+ ],
482
+ "parent_body": "robot0_right_hand"
483
+ }
484
+ },
485
+ "init_robot_base_pos": [
486
+ 3.585455707648412,
487
+ -0.825538364777259,
488
+ 0.0
489
+ ],
490
+ "init_robot_base_ori": [
491
+ 0.0,
492
+ 0.0,
493
+ 1.5707963267948966
494
+ ]
495
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000045/ep_meta.json ADDED
@@ -0,0 +1,523 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 27,
3
+ "style_id": 51,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_left_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_2/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.0005461043423197793,
36
+ -0.18300262136963047,
37
+ -0.11286041443970414
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "counter_3_front_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.2566317107223312,
55
+ 0.2543053154683122,
56
+ 0.07540958341449114
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 2.2929997599370466,
87
+ 0.688
88
+ ],
89
+ "offset": [
90
+ 0.029000120031476673,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.1271526577341561,
108
+ 0.1271526577341561
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread004/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.1271526577341561,
144
+ 0.1271526577341561
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "pear",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "pear",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_13/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_1_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_1_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "floor_1_room": {
197
+ "cls": "Floor"
198
+ },
199
+ "floor_1_backing_room": {
200
+ "cls": "Floor"
201
+ },
202
+ "floor_2_room": {
203
+ "cls": "Floor"
204
+ },
205
+ "floor_2_backing_room": {
206
+ "cls": "Floor"
207
+ },
208
+ "wall_accessory_1_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "wall_accessory_2_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wall_accessory_3_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wall_accessory_4_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "light_switch_1_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "window_group_1_room": {
224
+ "cls": "Window"
225
+ },
226
+ "window_group_2_room": {
227
+ "cls": "Window"
228
+ },
229
+ "window_group_3_room": {
230
+ "cls": "Window"
231
+ },
232
+ "window_group_4_room": {
233
+ "cls": "Window"
234
+ },
235
+ "stool_1_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "stool_2_room": {
239
+ "cls": "Stool"
240
+ },
241
+ "stool_3_room": {
242
+ "cls": "Stool"
243
+ },
244
+ "counter_corner_main_group": {
245
+ "cls": "Counter"
246
+ },
247
+ "sink_1_main_group": {
248
+ "cls": "Sink"
249
+ },
250
+ "counter_1_main_group": {
251
+ "cls": "Counter"
252
+ },
253
+ "box_main_group": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_1_main_group_base": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_1_main_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "stack_2_main_group_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_2_main_group_1": {
266
+ "cls": "SingleCabinet"
267
+ },
268
+ "stack_3_main_group_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_3_main_group_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "stack_3_main_group_2": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_3_main_group_3": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_4_main_group_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_4_main_group_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_4_main_group_2": {
287
+ "cls": "SingleCabinet"
288
+ },
289
+ "bottom_main_group_base": {
290
+ "cls": "Box"
291
+ },
292
+ "bottom_main_group_1": {
293
+ "cls": "Drawer"
294
+ },
295
+ "middle_main_group": {
296
+ "cls": "HingeCabinet"
297
+ },
298
+ "microwave_main_group": {
299
+ "cls": "Microwave"
300
+ },
301
+ "microwave_housing_main_group": {
302
+ "cls": "HousingCabinet"
303
+ },
304
+ "top_main_group": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "cab_1_main_group": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "cab_2_main_group": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "toaster_main_group": {
314
+ "cls": "Toaster"
315
+ },
316
+ "paper_towel_main_group": {
317
+ "cls": "Accessory"
318
+ },
319
+ "counter_1_left_group": {
320
+ "cls": "Counter"
321
+ },
322
+ "stack_1_left_group_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_1_left_group_1": {
326
+ "cls": "SingleCabinet"
327
+ },
328
+ "stack_1_left_group_2": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_2_left_group_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_2_left_group_1": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_2_left_group_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_2_left_group_3": {
341
+ "cls": "Drawer"
342
+ },
343
+ "dishwasher_left_group": {
344
+ "cls": "Dishwasher"
345
+ },
346
+ "box_left_group": {
347
+ "cls": "Box"
348
+ },
349
+ "fridge_left_group": {
350
+ "cls": "FridgeBottomFreezer"
351
+ },
352
+ "fridge_housing_left_group": {
353
+ "cls": "HousingCabinet"
354
+ },
355
+ "fridge_top_left_group": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "cab_1_left_group": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "coffee_machine_left_group": {
362
+ "cls": "CoffeeMachine"
363
+ },
364
+ "toaster_oven_left_group": {
365
+ "cls": "ToasterOven"
366
+ },
367
+ "counter_1_front_group": {
368
+ "cls": "Counter"
369
+ },
370
+ "stove_front_group": {
371
+ "cls": "Stove"
372
+ },
373
+ "counter_2_front_group": {
374
+ "cls": "Counter"
375
+ },
376
+ "counter_3_front_group": {
377
+ "cls": "Counter"
378
+ },
379
+ "counter_4_front_group": {
380
+ "cls": "Counter"
381
+ },
382
+ "counter_5_front_group": {
383
+ "cls": "Counter"
384
+ },
385
+ "stack_1_front_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_1_front_group_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "stack_1_front_group_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_2_front_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_2_front_group_1": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "stack_2_front_group_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_3_front_group_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_3_front_group_1": {
407
+ "cls": "SingleCabinet"
408
+ },
409
+ "stack_3_front_group_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "box_1_front_group": {
413
+ "cls": "Box"
414
+ },
415
+ "box_2_front_group": {
416
+ "cls": "Box"
417
+ },
418
+ "box_3_front_group": {
419
+ "cls": "Box"
420
+ },
421
+ "hood_front_group": {
422
+ "cls": "Hood"
423
+ }
424
+ },
425
+ "gen_textures": {},
426
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
427
+ "fixture_refs": {
428
+ "stool": "stool_2_room",
429
+ "dining_counter": "counter_3_front_group",
430
+ "coffee_machine": "coffee_machine_left_group"
431
+ },
432
+ "cam_configs": {
433
+ "robot0_agentview_center": {
434
+ "pos": [
435
+ -0.6,
436
+ 0.0,
437
+ 1.15
438
+ ],
439
+ "quat": [
440
+ 0.636945903301239,
441
+ 0.3325185477733612,
442
+ -0.3199238181114197,
443
+ -0.6175596117973328
444
+ ],
445
+ "parent_body": "mobilebase0_support"
446
+ },
447
+ "robot0_agentview_left": {
448
+ "pos": [
449
+ -0.5,
450
+ 0.35,
451
+ 1.05
452
+ ],
453
+ "quat": [
454
+ 0.55623853,
455
+ 0.29935253,
456
+ -0.37678665,
457
+ -0.6775092
458
+ ],
459
+ "camera_attribs": {
460
+ "fovy": "60"
461
+ },
462
+ "parent_body": "mobilebase0_support"
463
+ },
464
+ "robot0_agentview_right": {
465
+ "pos": [
466
+ -0.5,
467
+ -0.35,
468
+ 1.05
469
+ ],
470
+ "quat": [
471
+ 0.6775091886520386,
472
+ 0.3767866790294647,
473
+ -0.2993525564670563,
474
+ -0.55623859167099
475
+ ],
476
+ "camera_attribs": {
477
+ "fovy": "60"
478
+ },
479
+ "parent_body": "mobilebase0_support"
480
+ },
481
+ "robot0_frontview": {
482
+ "pos": [
483
+ -0.5,
484
+ 0,
485
+ 0.95
486
+ ],
487
+ "quat": [
488
+ 0.6088936924934387,
489
+ 0.3814677894115448,
490
+ -0.3673907518386841,
491
+ -0.5905545353889465
492
+ ],
493
+ "camera_attribs": {
494
+ "fovy": "60"
495
+ },
496
+ "parent_body": "mobilebase0_support"
497
+ },
498
+ "robot0_eye_in_hand": {
499
+ "pos": [
500
+ 0.05,
501
+ 0,
502
+ 0
503
+ ],
504
+ "quat": [
505
+ 0,
506
+ 0.707107,
507
+ 0.707107,
508
+ 0
509
+ ],
510
+ "parent_body": "robot0_right_hand"
511
+ }
512
+ },
513
+ "init_robot_base_pos": [
514
+ 0.8306393688298154,
515
+ -2.0965478344782262,
516
+ 0.0
517
+ ],
518
+ "init_robot_base_ori": [
519
+ 0.0,
520
+ 0.0,
521
+ 3.1415926193612504
522
+ ]
523
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000046/ep_meta.json ADDED
@@ -0,0 +1,473 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 41,
3
+ "style_id": 48,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_17/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.00675581072817377,
36
+ -0.05459708397474462,
37
+ -0.15144811815280992
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group_2",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.23270280075,
55
+ 0.23270367960000002,
56
+ 0.0122388154875
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.4650559999999997,
87
+ 1.299989
88
+ ],
89
+ "offset": [
90
+ 0.3150210000000002,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.116351400375,
108
+ 0.116351400375
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "pancake",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "pancake",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes001/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.116351400375,
144
+ 0.116351400375
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "cheese",
157
+ "dairy",
158
+ "food",
159
+ "in_container",
160
+ "food_set1"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "cheese",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_main_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_main_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_right_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_right_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_right_2_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_right_2_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_right_3_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_right_3_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "floor_1_room": {
198
+ "cls": "Floor"
199
+ },
200
+ "floor_1_backing_room": {
201
+ "cls": "Floor"
202
+ },
203
+ "lightswitch_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "wallaccessory.003_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "wallaccessory.001_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "window_group_room": {
213
+ "cls": "Window"
214
+ },
215
+ "stool_1_room": {
216
+ "cls": "Stool"
217
+ },
218
+ "stool_2_room": {
219
+ "cls": "Stool"
220
+ },
221
+ "sink_main_group_1": {
222
+ "cls": "Sink"
223
+ },
224
+ "counter_1_main_group_1": {
225
+ "cls": "Counter"
226
+ },
227
+ "singlecabinet_1_main_group_1": {
228
+ "cls": "SingleCabinet"
229
+ },
230
+ "singlecabinet_2_main_group_1": {
231
+ "cls": "SingleCabinet"
232
+ },
233
+ "stack_1_main_group_1_base": {
234
+ "cls": "Box"
235
+ },
236
+ "stack_1_main_group_1_1": {
237
+ "cls": "HingeCabinet"
238
+ },
239
+ "stack_1_main_group_1_2": {
240
+ "cls": "Drawer"
241
+ },
242
+ "stack_2_main_group_1_base": {
243
+ "cls": "Box"
244
+ },
245
+ "stack_2_main_group_1_1": {
246
+ "cls": "HingeCabinet"
247
+ },
248
+ "stack_2_main_group_1_2": {
249
+ "cls": "PanelCabinet"
250
+ },
251
+ "cube_1_main_group_1": {
252
+ "cls": "Box"
253
+ },
254
+ "dishwasher_1_main_group_1": {
255
+ "cls": "Dishwasher"
256
+ },
257
+ "bottom_main_group_1_base": {
258
+ "cls": "Box"
259
+ },
260
+ "bottom_main_group_1_1": {
261
+ "cls": "Drawer"
262
+ },
263
+ "microwave_main_group_1": {
264
+ "cls": "Microwave"
265
+ },
266
+ "fridgesidebyside_main_group_1": {
267
+ "cls": "FridgeSideBySide"
268
+ },
269
+ "fridgesidebyside_housing_main_group_1": {
270
+ "cls": "HousingCabinet"
271
+ },
272
+ "oven_cabinet_main_group_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "hingecabinet_1_main_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "microwave_housing_main_group_1": {
279
+ "cls": "HousingCabinet"
280
+ },
281
+ "top_main_group_1": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "coffee_machine_main_group_1": {
285
+ "cls": "CoffeeMachine"
286
+ },
287
+ "knife_block_main_group_1": {
288
+ "cls": "Accessory"
289
+ },
290
+ "counter_1_right_group_1": {
291
+ "cls": "Counter"
292
+ },
293
+ "counter_2_right_group_1": {
294
+ "cls": "Counter"
295
+ },
296
+ "stove_right_group_1": {
297
+ "cls": "Stove"
298
+ },
299
+ "stove_hood_right_group_1": {
300
+ "cls": "Hood"
301
+ },
302
+ "singlecabinet_1_right_group_1": {
303
+ "cls": "SingleCabinet"
304
+ },
305
+ "singlecabinet_2_right_group_1": {
306
+ "cls": "SingleCabinet"
307
+ },
308
+ "stack_1_right_group_1_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_1_right_group_1_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "stack_1_right_group_1_2": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_2_right_group_1_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_2_right_group_1_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "stack_2_right_group_1_2": {
324
+ "cls": "Drawer"
325
+ },
326
+ "toaster_right_group_1": {
327
+ "cls": "Toaster"
328
+ },
329
+ "stack_1_island_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_1_island_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_1_island_group_1_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_2_island_group_1_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_2_island_group_1_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "stack_2_island_group_1_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_3_island_group_1_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_3_island_group_1_1": {
351
+ "cls": "Drawer"
352
+ },
353
+ "stack_3_island_group_1_2": {
354
+ "cls": "Drawer"
355
+ },
356
+ "island_island_group_2": {
357
+ "cls": "Counter"
358
+ },
359
+ "stack_4_island_group_2_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_4_island_group_2_1": {
363
+ "cls": "SingleCabinet"
364
+ },
365
+ "stack_5_island_group_2_base": {
366
+ "cls": "Box"
367
+ },
368
+ "stack_5_island_group_2_1": {
369
+ "cls": "SingleCabinet"
370
+ },
371
+ "paper_towel_island_group_2": {
372
+ "cls": "Accessory"
373
+ }
374
+ },
375
+ "gen_textures": {},
376
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
377
+ "fixture_refs": {
378
+ "stool": "stool_1_room",
379
+ "dining_counter": "island_island_group_2",
380
+ "coffee_machine": "coffee_machine_main_group_1"
381
+ },
382
+ "cam_configs": {
383
+ "robot0_agentview_center": {
384
+ "pos": [
385
+ -0.6,
386
+ 0.0,
387
+ 1.15
388
+ ],
389
+ "quat": [
390
+ 0.636945903301239,
391
+ 0.3325185477733612,
392
+ -0.3199238181114197,
393
+ -0.6175596117973328
394
+ ],
395
+ "parent_body": "mobilebase0_support"
396
+ },
397
+ "robot0_agentview_left": {
398
+ "pos": [
399
+ -0.5,
400
+ 0.35,
401
+ 1.05
402
+ ],
403
+ "quat": [
404
+ 0.55623853,
405
+ 0.29935253,
406
+ -0.37678665,
407
+ -0.6775092
408
+ ],
409
+ "camera_attribs": {
410
+ "fovy": "60"
411
+ },
412
+ "parent_body": "mobilebase0_support"
413
+ },
414
+ "robot0_agentview_right": {
415
+ "pos": [
416
+ -0.5,
417
+ -0.35,
418
+ 1.05
419
+ ],
420
+ "quat": [
421
+ 0.6775091886520386,
422
+ 0.3767866790294647,
423
+ -0.2993525564670563,
424
+ -0.55623859167099
425
+ ],
426
+ "camera_attribs": {
427
+ "fovy": "60"
428
+ },
429
+ "parent_body": "mobilebase0_support"
430
+ },
431
+ "robot0_frontview": {
432
+ "pos": [
433
+ -0.5,
434
+ 0,
435
+ 0.95
436
+ ],
437
+ "quat": [
438
+ 0.6088936924934387,
439
+ 0.3814677894115448,
440
+ -0.3673907518386841,
441
+ -0.5905545353889465
442
+ ],
443
+ "camera_attribs": {
444
+ "fovy": "60"
445
+ },
446
+ "parent_body": "mobilebase0_support"
447
+ },
448
+ "robot0_eye_in_hand": {
449
+ "pos": [
450
+ 0.05,
451
+ 0,
452
+ 0
453
+ ],
454
+ "quat": [
455
+ 0,
456
+ 0.707107,
457
+ 0.707107,
458
+ 0
459
+ ],
460
+ "parent_body": "robot0_right_hand"
461
+ }
462
+ },
463
+ "init_robot_base_pos": [
464
+ 2.0927617593990884,
465
+ -0.761261434392247,
466
+ 0.0
467
+ ],
468
+ "init_robot_base_ori": [
469
+ 0.0,
470
+ 0.0,
471
+ 1.5707963267948966
472
+ ]
473
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000047/ep_meta.json ADDED
@@ -0,0 +1,500 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 60,
3
+ "style_id": 52,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_18/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.002252683809480489,
36
+ -0.16269906627929676,
37
+ -0.13447149320777887
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "counter_5_left_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.23187298679999999,
55
+ 0.231873067125,
56
+ 0.014080967775000001
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.719407894630542,
87
+ 0.394049
88
+ ],
89
+ "offset": [
90
+ -0.915365052684729,
91
+ 0.0,
92
+ 0.591655
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.11593649339999999,
108
+ 0.11593649339999999
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "waffle",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "waffle",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.11593649339999999,
144
+ 0.11593649339999999
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "orange",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "orange",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_10/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_left_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_left_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_main_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_main_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_right_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_right_1_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_right_2_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_right_2_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_main_2_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "floor_1_room": {
201
+ "cls": "Floor"
202
+ },
203
+ "floor_1_backing_room": {
204
+ "cls": "Floor"
205
+ },
206
+ "wallaccessory_01_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "lightswitch_01_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "wallaccessory_04_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "wallaccessory_12_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "wallaccessory_06_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "wallaccessory_07_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "wallaccessory_08_room": {
225
+ "cls": "WallAccessory"
226
+ },
227
+ "wallaccessory_09_room": {
228
+ "cls": "WallAccessory"
229
+ },
230
+ "wallaccessory_10_room": {
231
+ "cls": "WallAccessory"
232
+ },
233
+ "stool_1_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "stool_2_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "counter_corner_1_main_group_1": {
240
+ "cls": "Counter"
241
+ },
242
+ "counter_2_main_group_1": {
243
+ "cls": "Counter"
244
+ },
245
+ "counter_11_main_group_1": {
246
+ "cls": "Counter"
247
+ },
248
+ "counter_3_main_group_1": {
249
+ "cls": "Counter"
250
+ },
251
+ "stove_main_group_1": {
252
+ "cls": "Stove"
253
+ },
254
+ "microwave_main_group_1": {
255
+ "cls": "Microwave"
256
+ },
257
+ "micro_cab_main_group_1": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "hingecabinet_01_main_group_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "hingecabinet_02_main_group_1": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cube_3_main_group_1": {
267
+ "cls": "Box"
268
+ },
269
+ "singlecabinet_01_main_group_1": {
270
+ "cls": "SingleCabinet"
271
+ },
272
+ "stack_6_main_group_1_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_6_main_group_1_1": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_6_main_group_1_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_6_main_group_1_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_5_main_group_1_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_5_main_group_1_1": {
288
+ "cls": "SingleCabinet"
289
+ },
290
+ "cube_11_main_group_1": {
291
+ "cls": "Box"
292
+ },
293
+ "cube_12_main_group_1": {
294
+ "cls": "Box"
295
+ },
296
+ "coffee_machine_main_group_1": {
297
+ "cls": "CoffeeMachine"
298
+ },
299
+ "paper_towel_main_group_1": {
300
+ "cls": "Accessory"
301
+ },
302
+ "plant_main_group_1": {
303
+ "cls": "Accessory"
304
+ },
305
+ "fridgebottomfreezer_right_group_1": {
306
+ "cls": "FridgeBottomFreezer"
307
+ },
308
+ "fridgebottomfreezer_housing_right_group_1": {
309
+ "cls": "HousingCabinet"
310
+ },
311
+ "hingecabinet_05_right_group_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "counter_6_right_group_1": {
315
+ "cls": "Counter"
316
+ },
317
+ "hingecabinet_04_right_group_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "hingecabinet_06_right_group_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "stack_7_right_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_7_right_group_1_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "stack_7_right_group_1_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_8_right_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_8_right_group_1_1": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "cube_13_right_group_1": {
339
+ "cls": "Box"
340
+ },
341
+ "toaster_oven_right_group_1": {
342
+ "cls": "ToasterOven"
343
+ },
344
+ "sink_left_group_1": {
345
+ "cls": "Sink"
346
+ },
347
+ "counter_1_left_group_1": {
348
+ "cls": "Counter"
349
+ },
350
+ "counter_5_left_group_1": {
351
+ "cls": "Counter"
352
+ },
353
+ "cube_1_left_group_1": {
354
+ "cls": "Box"
355
+ },
356
+ "stack_1_left_group_1_base": {
357
+ "cls": "Box"
358
+ },
359
+ "stack_1_left_group_1_1": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_1_left_group_1_2": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_4_left_group_1_base": {
366
+ "cls": "Box"
367
+ },
368
+ "stack_4_left_group_1_1": {
369
+ "cls": "SingleCabinet"
370
+ },
371
+ "stack_2_left_group_1_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_2_left_group_1_1": {
375
+ "cls": "HingeCabinet"
376
+ },
377
+ "stack_2_left_group_1_2": {
378
+ "cls": "PanelCabinet"
379
+ },
380
+ "stack_3_left_group_1_base": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_3_left_group_1_1": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_3_left_group_1_2": {
387
+ "cls": "Drawer"
388
+ },
389
+ "cube_4_left_group_1": {
390
+ "cls": "Box"
391
+ },
392
+ "cube_2_left_group_1": {
393
+ "cls": "Box"
394
+ },
395
+ "dishwasher_1_left_group_1": {
396
+ "cls": "Dishwasher"
397
+ },
398
+ "toaster_left_group_1": {
399
+ "cls": "Toaster"
400
+ }
401
+ },
402
+ "gen_textures": {},
403
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
404
+ "fixture_refs": {
405
+ "stool": "stool_2_room",
406
+ "dining_counter": "counter_5_left_group_1",
407
+ "coffee_machine": "coffee_machine_main_group_1"
408
+ },
409
+ "cam_configs": {
410
+ "robot0_agentview_center": {
411
+ "pos": [
412
+ -0.6,
413
+ 0.0,
414
+ 1.15
415
+ ],
416
+ "quat": [
417
+ 0.636945903301239,
418
+ 0.3325185477733612,
419
+ -0.3199238181114197,
420
+ -0.6175596117973328
421
+ ],
422
+ "parent_body": "mobilebase0_support"
423
+ },
424
+ "robot0_agentview_left": {
425
+ "pos": [
426
+ -0.5,
427
+ 0.35,
428
+ 1.05
429
+ ],
430
+ "quat": [
431
+ 0.55623853,
432
+ 0.29935253,
433
+ -0.37678665,
434
+ -0.6775092
435
+ ],
436
+ "camera_attribs": {
437
+ "fovy": "60"
438
+ },
439
+ "parent_body": "mobilebase0_support"
440
+ },
441
+ "robot0_agentview_right": {
442
+ "pos": [
443
+ -0.5,
444
+ -0.35,
445
+ 1.05
446
+ ],
447
+ "quat": [
448
+ 0.6775091886520386,
449
+ 0.3767866790294647,
450
+ -0.2993525564670563,
451
+ -0.55623859167099
452
+ ],
453
+ "camera_attribs": {
454
+ "fovy": "60"
455
+ },
456
+ "parent_body": "mobilebase0_support"
457
+ },
458
+ "robot0_frontview": {
459
+ "pos": [
460
+ -0.5,
461
+ 0,
462
+ 0.95
463
+ ],
464
+ "quat": [
465
+ 0.6088936924934387,
466
+ 0.3814677894115448,
467
+ -0.3673907518386841,
468
+ -0.5905545353889465
469
+ ],
470
+ "camera_attribs": {
471
+ "fovy": "60"
472
+ },
473
+ "parent_body": "mobilebase0_support"
474
+ },
475
+ "robot0_eye_in_hand": {
476
+ "pos": [
477
+ 0.05,
478
+ 0,
479
+ 0
480
+ ],
481
+ "quat": [
482
+ 0,
483
+ 0.707107,
484
+ 0.707107,
485
+ 0
486
+ ],
487
+ "parent_body": "robot0_right_hand"
488
+ }
489
+ },
490
+ "init_robot_base_pos": [
491
+ 2.457649314719979,
492
+ -0.7888710202705775,
493
+ 0.0
494
+ ],
495
+ "init_robot_base_ori": [
496
+ 0.0,
497
+ 0.0,
498
+ 1.5707963267948966
499
+ ]
500
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000048/ep_meta.json ADDED
@@ -0,0 +1,538 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 28,
3
+ "style_id": 33,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.007180904963608558,
36
+ -0.16134515074161573,
37
+ -0.13367756477751697
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_3_room",
53
+ "min_size": [
54
+ 0.23310807345,
55
+ 0.23310807345,
56
+ 0.023453234437499998
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 2.6870000444107616,
87
+ 0.406
88
+ ],
89
+ "offset": [
90
+ -0.5249999777946193,
91
+ 0.0,
92
+ 0.514
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.116554036725,
108
+ 0.116554036725
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "sandwich_bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "sandwich_bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread004/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.116554036725,
144
+ 0.116554036725
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "mango",
157
+ "fruit",
158
+ "food",
159
+ "in_container"
160
+ ],
161
+ "groups": [
162
+ "fruit",
163
+ "cheese"
164
+ ],
165
+ "cat": "mango",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_3_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_3_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_left_3_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_left_3_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_left_2_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_left_2_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_right_2_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_right_2_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "floor_1_room": {
215
+ "cls": "Floor"
216
+ },
217
+ "floor_1_backing_room": {
218
+ "cls": "Floor"
219
+ },
220
+ "wall_accessory_1_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wall_accessory_2_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "light_switch_1_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "window_group_room": {
230
+ "cls": "Window"
231
+ },
232
+ "stool_1_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_2_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "stool_3_room": {
239
+ "cls": "Stool"
240
+ },
241
+ "stool_4_room": {
242
+ "cls": "Stool"
243
+ },
244
+ "bottom_main_group_base": {
245
+ "cls": "Box"
246
+ },
247
+ "bottom_main_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "microwave_main_group": {
251
+ "cls": "Microwave"
252
+ },
253
+ "microwave_housing_main_group": {
254
+ "cls": "HousingCabinet"
255
+ },
256
+ "top_main_group": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "counter_1_main_group": {
260
+ "cls": "Counter"
261
+ },
262
+ "sink_main_group": {
263
+ "cls": "Sink"
264
+ },
265
+ "counter_2_main_group": {
266
+ "cls": "Counter"
267
+ },
268
+ "stack_1_main_group_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_1_main_group_1": {
272
+ "cls": "SingleCabinet"
273
+ },
274
+ "stack_1_main_group_2": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_2_main_group_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_2_main_group_1": {
281
+ "cls": "SingleCabinet"
282
+ },
283
+ "stack_2_main_group_2": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_3_main_group_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_3_main_group_1": {
290
+ "cls": "SingleCabinet"
291
+ },
292
+ "stack_3_main_group_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_4_main_group_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_4_main_group_1": {
299
+ "cls": "SingleCabinet"
300
+ },
301
+ "stack_4_main_group_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_5_main_group_base": {
305
+ "cls": "Box"
306
+ },
307
+ "stack_5_main_group_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "oven_main_group": {
311
+ "cls": "Oven"
312
+ },
313
+ "stack_6_main_group_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_6_main_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "stack_6_main_group_2": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_7_main_group_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_7_main_group_1": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_7_main_group_2": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "stack_7_main_group_3": {
332
+ "cls": "SingleCabinet"
333
+ },
334
+ "cab_1_main_group": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "cab_2_main_group": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "cab_3_main_group": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "coffee_machine_main_group": {
344
+ "cls": "CoffeeMachine"
345
+ },
346
+ "toaster_main_group": {
347
+ "cls": "Toaster"
348
+ },
349
+ "toaster_oven_main_group": {
350
+ "cls": "ToasterOven"
351
+ },
352
+ "paper_towel_main_group": {
353
+ "cls": "Accessory"
354
+ },
355
+ "fridge_right_group": {
356
+ "cls": "FridgeBottomFreezer"
357
+ },
358
+ "fridge_housing_right_group": {
359
+ "cls": "HousingCabinet"
360
+ },
361
+ "fridge_top_right_group": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stovetop_island_group": {
365
+ "cls": "Stovetop"
366
+ },
367
+ "counter_1_island_group": {
368
+ "cls": "Counter"
369
+ },
370
+ "island_island_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "cube_island_group": {
374
+ "cls": "Box"
375
+ },
376
+ "panel_cab_1_island_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "panel_cab_1_island_group_1": {
380
+ "cls": "PanelCabinet"
381
+ },
382
+ "stack_1_island_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_1_island_group_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "stack_1_island_group_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "dishwasher_island_group": {
392
+ "cls": "Dishwasher"
393
+ },
394
+ "stack_2_island_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_2_island_group_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "stack_3_island_group_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_3_island_group_1": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_3_island_group_2": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_3_island_group_3": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_4_island_group_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_4_island_group_1": {
416
+ "cls": "Drawer"
417
+ },
418
+ "stack_4_island_group_2": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_4_island_group_3": {
422
+ "cls": "Drawer"
423
+ },
424
+ "stack_5_island_group_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_5_island_group_1": {
428
+ "cls": "SingleCabinet"
429
+ },
430
+ "stack_5_island_group_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "panel_cab_2_island_group_base": {
434
+ "cls": "Box"
435
+ },
436
+ "panel_cab_2_island_group_1": {
437
+ "cls": "PanelCabinet"
438
+ }
439
+ },
440
+ "gen_textures": {},
441
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
442
+ "fixture_refs": {
443
+ "stool": "stool_3_room",
444
+ "dining_counter": "island_island_group",
445
+ "coffee_machine": "coffee_machine_main_group"
446
+ },
447
+ "cam_configs": {
448
+ "robot0_agentview_center": {
449
+ "pos": [
450
+ -0.6,
451
+ 0.0,
452
+ 1.15
453
+ ],
454
+ "quat": [
455
+ 0.636945903301239,
456
+ 0.3325185477733612,
457
+ -0.3199238181114197,
458
+ -0.6175596117973328
459
+ ],
460
+ "parent_body": "mobilebase0_support"
461
+ },
462
+ "robot0_agentview_left": {
463
+ "pos": [
464
+ -0.5,
465
+ 0.35,
466
+ 1.05
467
+ ],
468
+ "quat": [
469
+ 0.55623853,
470
+ 0.29935253,
471
+ -0.37678665,
472
+ -0.6775092
473
+ ],
474
+ "camera_attribs": {
475
+ "fovy": "60"
476
+ },
477
+ "parent_body": "mobilebase0_support"
478
+ },
479
+ "robot0_agentview_right": {
480
+ "pos": [
481
+ -0.5,
482
+ -0.35,
483
+ 1.05
484
+ ],
485
+ "quat": [
486
+ 0.6775091886520386,
487
+ 0.3767866790294647,
488
+ -0.2993525564670563,
489
+ -0.55623859167099
490
+ ],
491
+ "camera_attribs": {
492
+ "fovy": "60"
493
+ },
494
+ "parent_body": "mobilebase0_support"
495
+ },
496
+ "robot0_frontview": {
497
+ "pos": [
498
+ -0.5,
499
+ 0,
500
+ 0.95
501
+ ],
502
+ "quat": [
503
+ 0.6088936924934387,
504
+ 0.3814677894115448,
505
+ -0.3673907518386841,
506
+ -0.5905545353889465
507
+ ],
508
+ "camera_attribs": {
509
+ "fovy": "60"
510
+ },
511
+ "parent_body": "mobilebase0_support"
512
+ },
513
+ "robot0_eye_in_hand": {
514
+ "pos": [
515
+ 0.05,
516
+ 0,
517
+ 0
518
+ ],
519
+ "quat": [
520
+ 0,
521
+ 0.707107,
522
+ 0.707107,
523
+ 0
524
+ ],
525
+ "parent_body": "robot0_right_hand"
526
+ }
527
+ },
528
+ "init_robot_base_pos": [
529
+ 1.7998857161796151,
530
+ -0.7831969709073956,
531
+ 0.0
532
+ ],
533
+ "init_robot_base_ori": [
534
+ 0.0,
535
+ 0.0,
536
+ 1.5707963267948966
537
+ ]
538
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000049/ep_meta.json ADDED
@@ -0,0 +1,540 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 16,
3
+ "style_id": 11,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_right_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.0,
36
+ -0.200406475814675,
37
+ -0.12823056340119296
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "island_island_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.24705742527000002,
55
+ 0.24545688741000002,
56
+ 0.02023132842
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 2.8139999918874192,
87
+ 0.976
88
+ ],
89
+ "offset": [
90
+ 0.008000004056290422,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12272844370500001,
108
+ 0.12272844370500001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "baguette",
121
+ "bread_food",
122
+ "food",
123
+ "in_container",
124
+ "food_set1"
125
+ ],
126
+ "groups": [
127
+ "bread_food",
128
+ "pancake",
129
+ "waffle"
130
+ ],
131
+ "cat": "baguette",
132
+ "split": "train",
133
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_2/model.xml"
134
+ }
135
+ },
136
+ {
137
+ "name": "breakfast_item2",
138
+ "obj_groups": [
139
+ "fruit",
140
+ "cheese"
141
+ ],
142
+ "placement": {
143
+ "size": [
144
+ 0.12272844370500001,
145
+ 0.12272844370500001
146
+ ],
147
+ "ensure_object_boundary_in_range": false,
148
+ "sample_args": {
149
+ "reference": "breakfast_plate",
150
+ "on_top": true
151
+ }
152
+ },
153
+ "type": "object",
154
+ "info": {
155
+ "groups_containing_sampled_obj": [
156
+ "all",
157
+ "orange",
158
+ "fruit",
159
+ "food",
160
+ "in_container",
161
+ "food_set1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "orange",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_10/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_left_3_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_left_3_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_left_2_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_left_2_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_left_1_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_left_1_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "wall_left_4_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "wall_left_4_backing_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_5_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_left_5_backing_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_3_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_3_backing_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_2_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_right_2_backing_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_right_4_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_right_4_backing_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "floor_1_room": {
235
+ "cls": "Floor"
236
+ },
237
+ "floor_1_backing_room": {
238
+ "cls": "Floor"
239
+ },
240
+ "floor_2_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "floor_2_backing_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "wall_accessory_1_room": {
247
+ "cls": "WallAccessory"
248
+ },
249
+ "wall_accessory_2_room": {
250
+ "cls": "WallAccessory"
251
+ },
252
+ "wall_accessory_3_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "light_switch_1_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "light_switch_2_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "stool_1_room": {
262
+ "cls": "Stool"
263
+ },
264
+ "stool_2_room": {
265
+ "cls": "Stool"
266
+ },
267
+ "stool_3_room": {
268
+ "cls": "Stool"
269
+ },
270
+ "counter_1_main_group_1": {
271
+ "cls": "Counter"
272
+ },
273
+ "stove_main_group_1": {
274
+ "cls": "Stove"
275
+ },
276
+ "counter_corner_main_group_1": {
277
+ "cls": "Counter"
278
+ },
279
+ "stack_1_main_group_1_base": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_1_main_group_1_1": {
283
+ "cls": "SingleCabinet"
284
+ },
285
+ "fridge_1_main_group_1": {
286
+ "cls": "FridgeFrenchDoor"
287
+ },
288
+ "fridge_1_housing_main_group_1": {
289
+ "cls": "HousingCabinet"
290
+ },
291
+ "fridge_top_main_group_1": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "cab_1_main_group_1": {
295
+ "cls": "SingleCabinet"
296
+ },
297
+ "cab_corner_main_group_1": {
298
+ "cls": "Box"
299
+ },
300
+ "microwave_main_group_1": {
301
+ "cls": "Microwave"
302
+ },
303
+ "cab_2_main_group_1": {
304
+ "cls": "HingeCabinet"
305
+ },
306
+ "cab_3_main_group_1": {
307
+ "cls": "SingleCabinet"
308
+ },
309
+ "paper_towel_main_group_1": {
310
+ "cls": "Accessory"
311
+ },
312
+ "sink_1_right_group_1": {
313
+ "cls": "Sink"
314
+ },
315
+ "counter_1_right_group_1": {
316
+ "cls": "Counter"
317
+ },
318
+ "box_1_right_group_1": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_1_right_group_1_base": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_1_right_group_1_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "stack_1_right_group_1_2": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_1_right_group_1_3": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_2_right_group_1_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_2_right_group_1_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "stack_2_right_group_1_2": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_2_right_group_1_3": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_3_right_group_1_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_3_right_group_1_1": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "stack_3_right_group_1_2": {
352
+ "cls": "PanelCabinet"
353
+ },
354
+ "stack_4_right_group_1_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_4_right_group_1_1": {
358
+ "cls": "HingeCabinet"
359
+ },
360
+ "stack_4_right_group_1_2": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_4_right_group_1_3": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_5_right_group_1_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_5_right_group_1_1": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "stack_5_right_group_1_2": {
373
+ "cls": "Drawer"
374
+ },
375
+ "stack_5_right_group_1_3": {
376
+ "cls": "Drawer"
377
+ },
378
+ "dishwasher_right_group_1": {
379
+ "cls": "Dishwasher"
380
+ },
381
+ "panel_stack_right_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "panel_stack_right_group_1_1": {
385
+ "cls": "PanelCabinet"
386
+ },
387
+ "cab_1_right_group_1": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "cab_2_right_group_1": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "coffee_machine_right_group_1": {
394
+ "cls": "CoffeeMachine"
395
+ },
396
+ "toaster_oven_right_group_1": {
397
+ "cls": "ToasterOven"
398
+ },
399
+ "toaster_right_group_1": {
400
+ "cls": "Toaster"
401
+ },
402
+ "island_island_group": {
403
+ "cls": "Counter"
404
+ },
405
+ "stack_1_island_group_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_1_island_group_1": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_1_island_group_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "box_1_island_group": {
415
+ "cls": "Box"
416
+ },
417
+ "box_2_island_group": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_2_island_group_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_2_island_group_1": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_2_island_group_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_2_island_group_3": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_3_island_group_base": {
433
+ "cls": "Box"
434
+ },
435
+ "stack_3_island_group_1": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_3_island_group_2": {
439
+ "cls": "Drawer"
440
+ }
441
+ },
442
+ "gen_textures": {},
443
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
444
+ "fixture_refs": {
445
+ "stool": "stool_2_room",
446
+ "dining_counter": "island_island_group",
447
+ "coffee_machine": "coffee_machine_right_group_1"
448
+ },
449
+ "cam_configs": {
450
+ "robot0_agentview_center": {
451
+ "pos": [
452
+ -0.6,
453
+ 0.0,
454
+ 1.15
455
+ ],
456
+ "quat": [
457
+ 0.636945903301239,
458
+ 0.3325185477733612,
459
+ -0.3199238181114197,
460
+ -0.6175596117973328
461
+ ],
462
+ "parent_body": "mobilebase0_support"
463
+ },
464
+ "robot0_agentview_left": {
465
+ "pos": [
466
+ -0.5,
467
+ 0.35,
468
+ 1.05
469
+ ],
470
+ "quat": [
471
+ 0.55623853,
472
+ 0.29935253,
473
+ -0.37678665,
474
+ -0.6775092
475
+ ],
476
+ "camera_attribs": {
477
+ "fovy": "60"
478
+ },
479
+ "parent_body": "mobilebase0_support"
480
+ },
481
+ "robot0_agentview_right": {
482
+ "pos": [
483
+ -0.5,
484
+ -0.35,
485
+ 1.05
486
+ ],
487
+ "quat": [
488
+ 0.6775091886520386,
489
+ 0.3767866790294647,
490
+ -0.2993525564670563,
491
+ -0.55623859167099
492
+ ],
493
+ "camera_attribs": {
494
+ "fovy": "60"
495
+ },
496
+ "parent_body": "mobilebase0_support"
497
+ },
498
+ "robot0_frontview": {
499
+ "pos": [
500
+ -0.5,
501
+ 0,
502
+ 0.95
503
+ ],
504
+ "quat": [
505
+ 0.6088936924934387,
506
+ 0.3814677894115448,
507
+ -0.3673907518386841,
508
+ -0.5905545353889465
509
+ ],
510
+ "camera_attribs": {
511
+ "fovy": "60"
512
+ },
513
+ "parent_body": "mobilebase0_support"
514
+ },
515
+ "robot0_eye_in_hand": {
516
+ "pos": [
517
+ 0.05,
518
+ 0,
519
+ 0
520
+ ],
521
+ "quat": [
522
+ 0,
523
+ 0.707107,
524
+ 0.707107,
525
+ 0
526
+ ],
527
+ "parent_body": "robot0_right_hand"
528
+ }
529
+ },
530
+ "init_robot_base_pos": [
531
+ 2.1987029161815386,
532
+ -1.2936453439564748,
533
+ 0.0
534
+ ],
535
+ "init_robot_base_ori": [
536
+ 0.0,
537
+ 0.0,
538
+ 3.422854288892552e-08
539
+ ]
540
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000050/ep_meta.json ADDED
@@ -0,0 +1,501 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 60,
3
+ "style_id": 29,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_main_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "stackable",
24
+ "receptacle"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_3/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.009321739429306619,
36
+ -0.08896380103362704,
37
+ -0.13538477962996123
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "counter_5_left_group_1",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_1_room",
53
+ "min_size": [
54
+ 0.24705742527000002,
55
+ 0.24545688741000002,
56
+ 0.02023132842
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 3.383407894556147,
87
+ 0.394049
88
+ ],
89
+ "offset": [
90
+ -0.08336505272192651,
91
+ 0.0,
92
+ 0.591655
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12272844370500001,
108
+ 0.12272844370500001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "bread",
121
+ "bread_food",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "bread",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12272844370500001,
144
+ 0.12272844370500001
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "banana",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1",
161
+ "group1"
162
+ ],
163
+ "groups": [
164
+ "fruit",
165
+ "cheese"
166
+ ],
167
+ "cat": "banana",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_16/model.xml"
170
+ }
171
+ }
172
+ ],
173
+ "fixtures": {
174
+ "wall_left_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_left_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_1_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_1_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_right_2_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_right_2_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_main_2_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "floor_1_room": {
202
+ "cls": "Floor"
203
+ },
204
+ "floor_1_backing_room": {
205
+ "cls": "Floor"
206
+ },
207
+ "wallaccessory_01_room": {
208
+ "cls": "WallAccessory"
209
+ },
210
+ "lightswitch_01_room": {
211
+ "cls": "WallAccessory"
212
+ },
213
+ "wallaccessory_04_room": {
214
+ "cls": "WallAccessory"
215
+ },
216
+ "wallaccessory_12_room": {
217
+ "cls": "WallAccessory"
218
+ },
219
+ "wallaccessory_06_room": {
220
+ "cls": "WallAccessory"
221
+ },
222
+ "wallaccessory_07_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "wallaccessory_08_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wallaccessory_09_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "wallaccessory_10_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "stool_1_room": {
235
+ "cls": "Stool"
236
+ },
237
+ "stool_2_room": {
238
+ "cls": "Stool"
239
+ },
240
+ "counter_corner_1_main_group_1": {
241
+ "cls": "Counter"
242
+ },
243
+ "counter_2_main_group_1": {
244
+ "cls": "Counter"
245
+ },
246
+ "counter_11_main_group_1": {
247
+ "cls": "Counter"
248
+ },
249
+ "counter_3_main_group_1": {
250
+ "cls": "Counter"
251
+ },
252
+ "stove_main_group_1": {
253
+ "cls": "Stove"
254
+ },
255
+ "microwave_main_group_1": {
256
+ "cls": "Microwave"
257
+ },
258
+ "micro_cab_main_group_1": {
259
+ "cls": "HingeCabinet"
260
+ },
261
+ "hingecabinet_01_main_group_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "hingecabinet_02_main_group_1": {
265
+ "cls": "HingeCabinet"
266
+ },
267
+ "cube_3_main_group_1": {
268
+ "cls": "Box"
269
+ },
270
+ "singlecabinet_01_main_group_1": {
271
+ "cls": "SingleCabinet"
272
+ },
273
+ "stack_6_main_group_1_base": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_6_main_group_1_1": {
277
+ "cls": "Drawer"
278
+ },
279
+ "stack_6_main_group_1_2": {
280
+ "cls": "Drawer"
281
+ },
282
+ "stack_6_main_group_1_3": {
283
+ "cls": "Drawer"
284
+ },
285
+ "stack_5_main_group_1_base": {
286
+ "cls": "Box"
287
+ },
288
+ "stack_5_main_group_1_1": {
289
+ "cls": "SingleCabinet"
290
+ },
291
+ "cube_11_main_group_1": {
292
+ "cls": "Box"
293
+ },
294
+ "cube_12_main_group_1": {
295
+ "cls": "Box"
296
+ },
297
+ "coffee_machine_main_group_1": {
298
+ "cls": "CoffeeMachine"
299
+ },
300
+ "paper_towel_main_group_1": {
301
+ "cls": "Accessory"
302
+ },
303
+ "plant_main_group_1": {
304
+ "cls": "Accessory"
305
+ },
306
+ "fridgebottomfreezer_right_group_1": {
307
+ "cls": "FridgeBottomFreezer"
308
+ },
309
+ "fridgebottomfreezer_housing_right_group_1": {
310
+ "cls": "HousingCabinet"
311
+ },
312
+ "hingecabinet_05_right_group_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "counter_6_right_group_1": {
316
+ "cls": "Counter"
317
+ },
318
+ "hingecabinet_04_right_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "hingecabinet_06_right_group_1": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "stack_7_right_group_1_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_7_right_group_1_1": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "stack_7_right_group_1_2": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_8_right_group_1_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_8_right_group_1_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "cube_13_right_group_1": {
340
+ "cls": "Box"
341
+ },
342
+ "toaster_oven_right_group_1": {
343
+ "cls": "ToasterOven"
344
+ },
345
+ "sink_left_group_1": {
346
+ "cls": "Sink"
347
+ },
348
+ "counter_1_left_group_1": {
349
+ "cls": "Counter"
350
+ },
351
+ "counter_5_left_group_1": {
352
+ "cls": "Counter"
353
+ },
354
+ "cube_1_left_group_1": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_left_group_1_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_1_left_group_1_1": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_1_left_group_1_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_4_left_group_1_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_4_left_group_1_1": {
370
+ "cls": "SingleCabinet"
371
+ },
372
+ "stack_2_left_group_1_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_2_left_group_1_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "stack_2_left_group_1_2": {
379
+ "cls": "PanelCabinet"
380
+ },
381
+ "stack_3_left_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_3_left_group_1_1": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_3_left_group_1_2": {
388
+ "cls": "Drawer"
389
+ },
390
+ "cube_4_left_group_1": {
391
+ "cls": "Box"
392
+ },
393
+ "cube_2_left_group_1": {
394
+ "cls": "Box"
395
+ },
396
+ "dishwasher_1_left_group_1": {
397
+ "cls": "Dishwasher"
398
+ },
399
+ "toaster_left_group_1": {
400
+ "cls": "Toaster"
401
+ }
402
+ },
403
+ "gen_textures": {},
404
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
405
+ "fixture_refs": {
406
+ "stool": "stool_1_room",
407
+ "dining_counter": "counter_5_left_group_1",
408
+ "coffee_machine": "coffee_machine_main_group_1"
409
+ },
410
+ "cam_configs": {
411
+ "robot0_agentview_center": {
412
+ "pos": [
413
+ -0.6,
414
+ 0.0,
415
+ 1.15
416
+ ],
417
+ "quat": [
418
+ 0.636945903301239,
419
+ 0.3325185477733612,
420
+ -0.3199238181114197,
421
+ -0.6175596117973328
422
+ ],
423
+ "parent_body": "mobilebase0_support"
424
+ },
425
+ "robot0_agentview_left": {
426
+ "pos": [
427
+ -0.5,
428
+ 0.35,
429
+ 1.05
430
+ ],
431
+ "quat": [
432
+ 0.55623853,
433
+ 0.29935253,
434
+ -0.37678665,
435
+ -0.6775092
436
+ ],
437
+ "camera_attribs": {
438
+ "fovy": "60"
439
+ },
440
+ "parent_body": "mobilebase0_support"
441
+ },
442
+ "robot0_agentview_right": {
443
+ "pos": [
444
+ -0.5,
445
+ -0.35,
446
+ 1.05
447
+ ],
448
+ "quat": [
449
+ 0.6775091886520386,
450
+ 0.3767866790294647,
451
+ -0.2993525564670563,
452
+ -0.55623859167099
453
+ ],
454
+ "camera_attribs": {
455
+ "fovy": "60"
456
+ },
457
+ "parent_body": "mobilebase0_support"
458
+ },
459
+ "robot0_frontview": {
460
+ "pos": [
461
+ -0.5,
462
+ 0,
463
+ 0.95
464
+ ],
465
+ "quat": [
466
+ 0.6088936924934387,
467
+ 0.3814677894115448,
468
+ -0.3673907518386841,
469
+ -0.5905545353889465
470
+ ],
471
+ "camera_attribs": {
472
+ "fovy": "60"
473
+ },
474
+ "parent_body": "mobilebase0_support"
475
+ },
476
+ "robot0_eye_in_hand": {
477
+ "pos": [
478
+ 0.05,
479
+ 0,
480
+ 0
481
+ ],
482
+ "quat": [
483
+ 0,
484
+ 0.707107,
485
+ 0.707107,
486
+ 0
487
+ ],
488
+ "parent_body": "robot0_right_hand"
489
+ }
490
+ },
491
+ "init_robot_base_pos": [
492
+ 2.618952521422003,
493
+ -0.8092942761768935,
494
+ 0.0
495
+ ],
496
+ "init_robot_base_ori": [
497
+ 0.0,
498
+ 0.0,
499
+ 1.5707963267948966
500
+ ]
501
+ }
pretrain/composite/DeliverBrewedCoffee/20250904/lerobot/extras/episode_000051/ep_meta.json ADDED
@@ -0,0 +1,512 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 19,
3
+ "style_id": 29,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "brewed_coffee",
7
+ "obj_groups": "mug",
8
+ "placement": {
9
+ "fixture": "coffee_machine_right_group_1",
10
+ "ensure_object_boundary_in_range": false,
11
+ "margin": 0.0,
12
+ "ensure_valid_placement": false,
13
+ "rotation": [
14
+ 0.39269908169872414,
15
+ 0.7853981633974483
16
+ ]
17
+ },
18
+ "type": "object",
19
+ "info": {
20
+ "groups_containing_sampled_obj": [
21
+ "all",
22
+ "mug",
23
+ "receptacle",
24
+ "stackable"
25
+ ],
26
+ "groups": [
27
+ "mug"
28
+ ],
29
+ "cat": "mug",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ -0.009321739429306619,
36
+ -0.08896380103362704,
37
+ -0.13538477962996123
38
+ ],
39
+ "size": [
40
+ 0.01,
41
+ 0.01
42
+ ],
43
+ "name": "bottom"
44
+ }
45
+ },
46
+ {
47
+ "name": "breakfast_plate",
48
+ "obj_groups": "plate",
49
+ "placement": {
50
+ "fixture": "dining_dining_area_group",
51
+ "sample_region_kwargs": {
52
+ "ref": "stool_2_room",
53
+ "min_size": [
54
+ 0.24705742527000002,
55
+ 0.24545688741000002,
56
+ 0.02023132842
57
+ ]
58
+ },
59
+ "size": [
60
+ 0.35,
61
+ 0.35
62
+ ],
63
+ "pos": [
64
+ "ref",
65
+ "ref"
66
+ ]
67
+ },
68
+ "type": "object",
69
+ "info": {
70
+ "groups_containing_sampled_obj": [
71
+ "all",
72
+ "plate",
73
+ "receptacle",
74
+ "container",
75
+ "container_set2"
76
+ ],
77
+ "groups": [
78
+ "plate"
79
+ ],
80
+ "cat": "plate",
81
+ "split": "train",
82
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
83
+ },
84
+ "reset_region": {
85
+ "size": [
86
+ 1.370000166627808,
87
+ 1.0
88
+ ],
89
+ "offset": [
90
+ -0.014999916686095904,
91
+ 0.0,
92
+ 0.46
93
+ ],
94
+ "name": "geom_0"
95
+ }
96
+ },
97
+ {
98
+ "name": "breakfast_item1",
99
+ "obj_groups": [
100
+ "bread_food",
101
+ "pancake",
102
+ "waffle"
103
+ ],
104
+ "exclude_obj_groups": "hotdog_bun",
105
+ "placement": {
106
+ "size": [
107
+ 0.12272844370500001,
108
+ 0.12272844370500001
109
+ ],
110
+ "ensure_object_boundary_in_range": false,
111
+ "sample_args": {
112
+ "reference": "breakfast_plate",
113
+ "on_top": true
114
+ }
115
+ },
116
+ "type": "object",
117
+ "info": {
118
+ "groups_containing_sampled_obj": [
119
+ "all",
120
+ "waffle",
121
+ "sweets",
122
+ "food",
123
+ "in_container"
124
+ ],
125
+ "groups": [
126
+ "bread_food",
127
+ "pancake",
128
+ "waffle"
129
+ ],
130
+ "cat": "waffle",
131
+ "split": "train",
132
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml"
133
+ }
134
+ },
135
+ {
136
+ "name": "breakfast_item2",
137
+ "obj_groups": [
138
+ "fruit",
139
+ "cheese"
140
+ ],
141
+ "placement": {
142
+ "size": [
143
+ 0.12272844370500001,
144
+ 0.12272844370500001
145
+ ],
146
+ "ensure_object_boundary_in_range": false,
147
+ "sample_args": {
148
+ "reference": "breakfast_plate",
149
+ "on_top": true
150
+ }
151
+ },
152
+ "type": "object",
153
+ "info": {
154
+ "groups_containing_sampled_obj": [
155
+ "all",
156
+ "orange",
157
+ "fruit",
158
+ "food",
159
+ "in_container",
160
+ "food_set1"
161
+ ],
162
+ "groups": [
163
+ "fruit",
164
+ "cheese"
165
+ ],
166
+ "cat": "orange",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml"
169
+ }
170
+ }
171
+ ],
172
+ "fixtures": {
173
+ "wall_left_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_left_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_main_1_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_main_1_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_main_3_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_main_3_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_main_2_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_main_2_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_right_1_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_right_1_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "floor_1_room": {
204
+ "cls": "Floor"
205
+ },
206
+ "floor_1_backing_room": {
207
+ "cls": "Floor"
208
+ },
209
+ "wall_accessory_1_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "wall_accessory_2_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "wall_accessory_3_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "light_switch_1_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "window_group_room": {
222
+ "cls": "Window"
223
+ },
224
+ "stool_1_room": {
225
+ "cls": "Stool"
226
+ },
227
+ "stool_2_room": {
228
+ "cls": "Stool"
229
+ },
230
+ "sink_left_group_1": {
231
+ "cls": "Sink"
232
+ },
233
+ "counter_1_left_group_1": {
234
+ "cls": "Counter"
235
+ },
236
+ "stack_1_left_group_1_base": {
237
+ "cls": "Box"
238
+ },
239
+ "stack_1_left_group_1_1": {
240
+ "cls": "HingeCabinet"
241
+ },
242
+ "stack_1_left_group_1_2": {
243
+ "cls": "Drawer"
244
+ },
245
+ "stack_1_left_group_1_3": {
246
+ "cls": "Drawer"
247
+ },
248
+ "stack_2_left_group_1_base": {
249
+ "cls": "Box"
250
+ },
251
+ "stack_2_left_group_1_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "stack_2_left_group_1_2": {
255
+ "cls": "PanelCabinet"
256
+ },
257
+ "stack_3_left_group_1_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_3_left_group_1_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "stack_3_left_group_1_2": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_3_left_group_1_3": {
267
+ "cls": "Drawer"
268
+ },
269
+ "cab_1_left_group_1": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "cab_2_left_group_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "cab_3_left_group_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "bottom_left_group_1_base": {
279
+ "cls": "Box"
280
+ },
281
+ "bottom_left_group_1_1": {
282
+ "cls": "Drawer"
283
+ },
284
+ "middle_1_left_group_1": {
285
+ "cls": "HingeCabinet"
286
+ },
287
+ "middle_2_left_group_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "top_1_left_group_1": {
291
+ "cls": "HingeCabinet"
292
+ },
293
+ "toaster_oven_left_group_1": {
294
+ "cls": "ToasterOven"
295
+ },
296
+ "counter_1_right_group_1": {
297
+ "cls": "Counter"
298
+ },
299
+ "counter_corner_right_group_1": {
300
+ "cls": "Counter"
301
+ },
302
+ "box_1_right_group_1": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_1_right_group_1_base": {
306
+ "cls": "Box"
307
+ },
308
+ "stack_1_right_group_1_1": {
309
+ "cls": "SingleCabinet"
310
+ },
311
+ "stack_1_right_group_1_2": {
312
+ "cls": "Drawer"
313
+ },
314
+ "dishwasher_1_right_group_1": {
315
+ "cls": "Dishwasher"
316
+ },
317
+ "stack_2_right_group_1_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_2_right_group_1_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "stack_2_right_group_1_2": {
324
+ "cls": "Drawer"
325
+ },
326
+ "box_2_right_group_1": {
327
+ "cls": "Box"
328
+ },
329
+ "cab_1_right_group_1": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "coffee_machine_right_group_1": {
333
+ "cls": "CoffeeMachine"
334
+ },
335
+ "toaster_right_group_1": {
336
+ "cls": "Toaster"
337
+ },
338
+ "paper_towel_right_group_1": {
339
+ "cls": "Accessory"
340
+ },
341
+ "counter_corner_1_main_group_3": {
342
+ "cls": "Counter"
343
+ },
344
+ "stove_main_group_3": {
345
+ "cls": "Stove"
346
+ },
347
+ "fridge_1_main_group_3": {
348
+ "cls": "FridgeBottomFreezer"
349
+ },
350
+ "fridge_1_housing_main_group_3": {
351
+ "cls": "HousingCabinet"
352
+ },
353
+ "top_1_main_group_3": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "cab_1_main_group_3": {
357
+ "cls": "OpenCabinet"
358
+ },
359
+ "microwave_main_group_3": {
360
+ "cls": "Microwave"
361
+ },
362
+ "cab_micro_main_group_3": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "cab_corner_main_group_3": {
366
+ "cls": "Box"
367
+ },
368
+ "dining_dining_area_group": {
369
+ "cls": "Counter"
370
+ },
371
+ "box_dining_area_group": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_1_dining_area_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_1_dining_area_group_1": {
378
+ "cls": "SingleCabinet"
379
+ },
380
+ "stack_1_dining_area_group_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_2_dining_area_group_base": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_2_dining_area_group_1": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_2_dining_area_group_2": {
390
+ "cls": "Drawer"
391
+ },
392
+ "stack_2_dining_area_group_3": {
393
+ "cls": "Drawer"
394
+ },
395
+ "stack_2_dining_area_group_4": {
396
+ "cls": "Drawer"
397
+ },
398
+ "stack_3_dining_area_group_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_3_dining_area_group_1": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_3_dining_area_group_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_3_dining_area_group_3": {
408
+ "cls": "Drawer"
409
+ },
410
+ "stack_3_dining_area_group_4": {
411
+ "cls": "Drawer"
412
+ }
413
+ },
414
+ "gen_textures": {},
415
+ "lang": "Pick up the brewed coffee from the coffee machine and place it next to the breakfast plate on the dining counter.",
416
+ "fixture_refs": {
417
+ "stool": "stool_2_room",
418
+ "dining_counter": "dining_dining_area_group",
419
+ "coffee_machine": "coffee_machine_right_group_1"
420
+ },
421
+ "cam_configs": {
422
+ "robot0_agentview_center": {
423
+ "pos": [
424
+ -0.6,
425
+ 0.0,
426
+ 1.15
427
+ ],
428
+ "quat": [
429
+ 0.636945903301239,
430
+ 0.3325185477733612,
431
+ -0.3199238181114197,
432
+ -0.6175596117973328
433
+ ],
434
+ "parent_body": "mobilebase0_support"
435
+ },
436
+ "robot0_agentview_left": {
437
+ "pos": [
438
+ -0.5,
439
+ 0.35,
440
+ 1.05
441
+ ],
442
+ "quat": [
443
+ 0.55623853,
444
+ 0.29935253,
445
+ -0.37678665,
446
+ -0.6775092
447
+ ],
448
+ "camera_attribs": {
449
+ "fovy": "60"
450
+ },
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_agentview_right": {
454
+ "pos": [
455
+ -0.5,
456
+ -0.35,
457
+ 1.05
458
+ ],
459
+ "quat": [
460
+ 0.6775091886520386,
461
+ 0.3767866790294647,
462
+ -0.2993525564670563,
463
+ -0.55623859167099
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_frontview": {
471
+ "pos": [
472
+ -0.5,
473
+ 0,
474
+ 0.95
475
+ ],
476
+ "quat": [
477
+ 0.6088936924934387,
478
+ 0.3814677894115448,
479
+ -0.3673907518386841,
480
+ -0.5905545353889465
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_eye_in_hand": {
488
+ "pos": [
489
+ 0.05,
490
+ 0,
491
+ 0
492
+ ],
493
+ "quat": [
494
+ 0,
495
+ 0.707107,
496
+ 0.707107,
497
+ 0
498
+ ],
499
+ "parent_body": "robot0_right_hand"
500
+ }
501
+ },
502
+ "init_robot_base_pos": [
503
+ 3.388592093247567,
504
+ -1.0427130859040386,
505
+ 0.0
506
+ ],
507
+ "init_robot_base_ori": [
508
+ 0.0,
509
+ 0.0,
510
+ 3.422854288892552e-08
511
+ ]
512
+ }